CN103303433B - A kind of ship performance virtual test system - Google Patents

Abstract

The invention discloses a kind of ship performance virtual test system and test method, it belongs to ship performance technical field of measurement and test; Virtual test system comprises memory storage, tool device, proving installation and service platform, and memory storage and tool device are positioned at bottom, and proving installation is positioned at supporting layer, and service platform is positioned at application layer; Test method comprises: service platform sets up the environment data model of aeronautical data model and the ship's navigation environment navigated by water in wave about boats and ships respectively according to the test result of proving installation, and in conjunction with conceptual data model during above-mentioned two Building of Simulation Model boats and ships real navigation; The beneficial effect of technique scheme is: by the foundation of navigation performance virtual test system, reflect human-computer interaction during ship's navigation truly, improve testing level, shorten test period, reduce testing cost, and ensure that particularity and the real-time of motion simulation, further increase the fidelity of virtual test.

Description

A kind of ship performance virtual test system

Technical field

The present invention relates to ship performance technical field of measurement and test, particularly relate to a kind of ship performance virtual test system.

Background technology

Virtual Test Technology combines the comprehensive application technology that the technology such as Virtual Prototype Technique, Simulation and Modeling Technology, sensor technology, virtual reality technology carry out product function and performance testing, be extension and the development of emulation testing technology, Virtual Test Technology highlights the man-machine interaction experience sense of user and the vivid effect of test.

Traditional depends on model test and shiphoard measurement to the research of ship navigation performance, namely needs to carry out performance testing by means of material object, and the shortcoming of this performance testing is that the cycle is long, costly, there is many restrictions, and it is very inconvenient to carry out.

And in prior art, although there is marine simulator technology, but this technology is applicable to crewman's training usually, it more lays particular emphasis on the real-time of navigation simulation and the fidelity of environmental simulation, and it is fairly simple in the structure of motion simulation model, stormy waves stream is also abundant not on the consideration affecting aspect of ship navigation performance, and therefore marine simulator of the prior art is difficult to meet the accuracy requirement for the virtual test of performance during ship's navigation.

Chinese patent (CN101372257) discloses a kind of method for optimizing and analyzing shipping flight path, it measures the navigation route of boats and ships reality according to stem DGPS receiver, ship stern DGPS receiver and gyro compass device, distinguished and admirable and wind-force disturbance variable parameter is measured in conjunction with wind indicator, a series of Vector modulation and dynamic conditioning are carried out to the track data of reality, calculate by optimizing to revise motion of ship flight path, draw the flight path route of boats and ships under calm state corresponding to ship's navigation thus, thus determine the more accurate exercise performance parameter when ship trial.Technique scheme still belongs to the category detected in real time, and cannot just can detect the performance data that obtains these boats and ships and debug accordingly before boats and ships dispatch from the factory, its accuracy of detection also exists some problems.

Chinese patent (CN202049033U) discloses a kind of land ship tail shaft power and structured testing experimental installation, by diesel engine, change speed gear box, coupler, bearing seat, transmission shaft, thrust mechanism for testing, sealing mechanism, screw propeller, tank, pedestal is formed, diesel engine, change speed gear box, bearing seat and thrust mechanism for testing are arranged on the differing heights of pedestal respectively, diesel engine main shaft is connected with change speed gear box, the torque output shaft of change speed gear box is connected with transmission shaft by coupler, bearing sleeve is on transmission shaft, thrust mechanism for testing is arranged on transmission shaft, and near tank, transmission shaft end is provided with screw propeller and is positioned at tank, sealing mechanism is arranged on the joining place of tank and transmission shaft, after device installs, start diesel engine, according to the rotating speed needing adjustment change speed gear box of test, by transmission shaft and thrust mechanism for testing, transmission of power is rotated to screw propeller, transmission shaft between bearing seat and thrust mechanism for testing can install all kinds of detecting element, properties test is carried out to tailing axle.Technique scheme still belongs to the category detected in kind, needs user to monitor boats and ships entity, cannot realize the virtual detection of ship performance.

Summary of the invention

According to problems of the prior art, a kind of ship performance virtual test system is now provided, specifically comprises:

A kind of ship navigation performance virtual test system, wherein, comprising:

Memory storage, described memory storage comprises first storage component and second storage component; Standard comparison data and the test order data of ship navigation performance test are preserved in described first storage component; The test result data of ship performance virtual test is preserved in described second storage component;

Tool device; Described tool device comprises multiple testing tool for testing ship navigation performance;

Proving installation; Described proving installation connects described memory storage and described tool device respectively; Described proving installation transfers described standard comparison data in described memory storage and described test order data, and the described testing tool in described tool device, and tests ship navigation performance;

Service platform; Described service platform is connected to described proving installation; Described service platform according to the test result of described proving installation, according to preset method establishment ship's navigation time conceptual data model.

Preferably, this ship navigation performance virtual test system, wherein, described standard comparison data comprise the environmental simulation data of the simulate data of standard ship, the authority data of ship design and ship's navigation.

Preferably, this ship navigation performance virtual test system, wherein, described proving installation comprises:

Resistance performance test cell, the resistance be subject to during for testing ship's navigation in hydrostatic;

Propulsion quality test cell, for testing propulsion quality during ship's navigation in hydrostatic;

Seakeeping performance test cell, the motor imagination situation to different wave condition during for testing ship's navigation;

Maneuvering performance test cell, for testing path of motion during ship's navigation in hydrostatic;

Environmental simulation unit, for simulating environmental conditions during ship's navigation.

Preferably, this ship navigation performance virtual test system, wherein, described service platform comprises:

Control setup, for reading the test result of described proving installation and forming corresponding described conceptual data model;

Image forming appts, for generation of the emulating image of described conceptual data model;

Operating control, respective virtual action during for the control action of user being reflected as the ship's navigation on described emulating image;

Described control setup, described image forming appts and described operating control are connected to each other, and are all connected to described proving installation.

Preferably, this ship navigation performance virtual test system, wherein, image forming appts comprises:

Image production components, for producing the emulating image of corresponding described conceptual data model according to the test result of described proving installation;

Image display part, described image display part is connected to described image production components; Described image display part is for showing the emulating image of the described conceptual data model of described image production components generation;

First link, described image forming appts is connected to described proving installation by described first link.

Preferably, this ship navigation performance virtual test system, wherein, described image display part is projection equipment; The emulating image of described conceptual data model is projected on an outside arcuate screens by described projection equipment.

Preferably, this ship navigation performance virtual test system, wherein, described operating control comprises:

Control member, handles described conceptual data model for user;

Function unit, described function unit is connected to described control member; Described function unit reads the control action of user and process obtains corresponding steering command.

Preferably, this ship navigation performance virtual test system, wherein, described control setup comprises:

Master control unit, described master control unit forms corresponding described conceptual data model by the test result process of read test device;

Second link, described control setup is connected to described proving installation by described second link.

A kind of ship navigation performance virtual measuring method, wherein, adopt above-mentioned ship navigation performance virtual test system, described ship navigation performance virtual measuring method comprises:

Step 1, described service platform obtains according to the test result process that described proving installation obtains the aeronautical data model that boats and ships navigate by water in wave;

Step 2, the environment data model of residing environment when described service platform obtains ship's navigation according to the test result process that described proving installation obtains;

Step 3, described service platform, in conjunction with described first realistic model and described second realistic model, obtains described conceptual data model when simulating boats and ships real navigation.

Preferably, this ship navigation performance virtual measuring method, wherein, described step 1 specifically comprises:

Step 11, described service platform test according to described seakeeping performance test cell ship's navigation time the wave force data of random seaway that are subject to, to the motor imagination model under different wave condition when obtaining ship's navigation; Described seakeeping performance test cell will not be kept in the described second storage component of described memory storage with the multiple described wave force data of diverse location in the same time;

Step 12, described service platform test according to described maneuvering performance test cell ship's navigation time the force data that is subject to and applied moment data, the path of motion model that when obtaining ship's navigation, corresponding different described steering command produces;

Step 13, described service platform, according to described motor imagination model and described path of motion model, obtains described aeronautical data model during ship's navigation.

Preferably, this ship navigation performance virtual measuring method, wherein, described step 11 specifically comprises:

Step 111, described seakeeping performance test cell obtains the Wave Data of described random seaway; Described Wave Data comprises the wave type of described random seaway, wave height and period of a wave;

Step 112, acts on the hydrodynamic force coefficient of described boats and ships, and expresses described hydrodynamic force coefficient with frequency domain value when described seakeeping performance test cell calculates ship's navigation according to described Wave Data; Described hydrodynamic force coefficient comprises the added mass of boats and ships and the damping coefficient of wave;

Step 113, described hydrodynamic force coefficient is converted to the numerical value of expressing with time-domain value by described seakeeping performance test cell;

Step 114, described seakeeping performance test cell calculates not the described wave force data of diverse location in the same time by setting up the boats and ships temporal motion differential equation:

The described boats and ships temporal motion differential equation is:

$\underset{j=1}{\overset{5}{\mathrm{\Σ}}}(M_{\mathrm{ij}}+m_{\mathrm{ij}}){\stackrel{\·\·}{x}}_j\left(t\right)+\underset{-\∞}{\overset{t}{\∫}}{K}_{\mathrm{ij}}\left(\mathrm{\τ}\right){\stackrel{\·}{x}}_j(t-\mathrm{\τ})\mathrm{d\τ}+C_{\mathrm{ij}}{x}_j\left(t\right)=F_{\mathrm{Wi}}\left(t\right)$

$i=1,...,---\left(1\right)$

Described x _jt () represents boats and ships function except five degree of freedom motions of surge motion on wave; Described degree of freedom motion comprises the swaying motion of boats and ships, yawing campaign, rolling motion, pitching motion and heaving;

Described M _ijrepresent the mass matrix of boats and ships; Described m _ijrepresent when wave frequencies is infinitely great, the added mass matrix of boats and ships; Described K _ij(τ) damping time delay function during ship's navigation is represented; Described C _ijrepresent recuperability coefficient during ship's navigation; Described F _wit wave force data that () is subject to when representing ship's navigation;

Step 115, the multiple described wave force data obtained from different described random seaways are preserved in the described first storage component of described memory storage by described seakeeping performance test cell;

Step 116, described service platform reads multiple described wave force data, obtains the described motor imagination model during ship's navigation under corresponding described wave force data.

Preferably, this ship navigation performance virtual measuring method, wherein, described step 12 specifically comprises:

Step 121, act on the described force data on bare hull, screw propeller and rudder for ship and described applied moment data when described maneuvering performance test cell obtains ship's navigation, the formula obtaining described force data and described applied moment data is:

$\begin{array}{c}(m+m_x)\stackrel{\·}{u}-(m+m_y)vr=X_H+X_P+X_R+X_A+X_W\\ (m+m_y)\stackrel{\·}{v}+(m+m_x)ur=Y_H+Y_P+Y_R+Y_A+Y_W\\ (I_{zz}+J_{zz})\stackrel{\·}{r}=N_H+N_P+N_R+N_A+N_W\\ (I_{xx}+J_{xx})\stackrel{\·\·}{\mathrm{\φ}}=K_H+K_P+K_R+K_A+K_W\\ 2\mathrm{\π}(I_{pp}+J_{pp})\stackrel{\·}{n}=Q_E+Q_P+Q_f\end{array}---\left(2\right)$

M represents the quality of boats and ships, m _xrepresent the added mass of boats and ships longitudinal direction, m _yrepresent the added mass of boats and ships transverse direction;

I _xxrepresent ship rolling moment of inertia, I _zzrepresent that boats and ships head shakes moment of inertia, J _xxrepresent additional inertance moment during ship rolling, J _zzrepresent additional inertance moment when boats and ships head shakes;

U represents longitudinal velocity during ship's navigation, and v represents cross velocity during ship's navigation, and r represents heading rate during ship's navigation, and φ represents angle of heel during ship's navigation;

I _ppwhen representing ship's navigation, the rotor inertia of screw propeller, J _ppwhen representing ship's navigation, the additional rotation inertia of described screw propeller, n represents the rotating speed of described screw propeller;

Q _ewhen representing ship's navigation, the torque that the main frame of boats and ships sends, Q _prepresent the torque that screw propeller receives, Q _fbecause axle system rubs the torque consumed when representing ship's navigation;

The longitudinal force that X produces when representing ship's navigation, the transverse force produced when Y represents ship's navigation, N represents turn first moment during ship's navigation, and K represents rolling moment during ship's navigation; Subscript H represents the described force data that described bare hull produces and described applied moment data; Subscript P represents the described force data that described screw propeller produces and described applied moment data; Subscript R represents the described force data that described rudder for ship produces and described applied moment data; The described force data that wind-force when subscript A represents ship's navigation produces and described applied moment data; The described force data that wave when subscript W represents ship's navigation produces and described applied moment data;

Step 122, wind-force data during described maneuvering performance test cell test ship's navigation; Described wind-force data comprise wind pressure coefficient, wind moment coefficient and wind pressure position of action point; Described maneuvering performance test cell will obtain under windage in formula (2) described in described wind-force data importing, described path of motion during ship's navigation;

Step 123, the ship's navigation path of motion of described maneuvering performance test cell test under water currents, path of motion formula and described formula (2) similar, for:

$\begin{array}{c}\left(m+m_x\right)\stackrel{\·}{u}=X_H\left(u_r,v_r,r\right)+X_P\left(u_r,v_r,r\right)+X_R\left(u_r,v_r,r\right)+\left(m+m_y\right)v_{r}r+\left(m+m_x\right)v_{C}r+X_A+X_W\\ \left(m+m_y\right)\stackrel{\·}{v}=Y_H\left(u_r,v_r,r\right)+Y_P\left(u_r,v_r,r\right)+Y_R\left(u_r,v_r,r\right)-\left(m+m_x\right)u_{r}r-\left(m+m_y\right)v_{C}r+Y_A+Y_W\\ \left(I_{zz}+J_{zz}\right)\stackrel{\·}{r}=N_H\left(u_r,v_r,r\right)+N_P\left(u_r,v_r,r\right)+N_R\left(u_r,v_r,r\right)+N_A+N_W\end{array}---\left(3\right)$

Described u _rrepresent the speed through water of longitudinal direction during ship's navigation, described v _rrepresent the speed through water of transverse direction during described ship's navigation, described v _crepresent that the flow speed value of current is in boats and ships magnitude component in a lateral direction, described u _crepresent the magnitude component of described flow speed value on boats and ships longitudinal direction; Described-(m+m _y) u _cr represents the transverse force produced when boats and ships are at equal uniform flow Air China row, described (m+m _y) v _cr represents the longitudinal force that boats and ships produce when equal uniform flow Air China row;

Step 124, the result that described service platform detects according to described maneuvering performance test cell, draws described path of motion model during ship's navigation.

Preferably, this ship navigation performance virtual measuring method, wherein, described step 2 specifically comprises:

Step 21, described environmental simulation unit sets up initial sea state spectrum formula

$\widetilde{h_0}\left(K\right)=\frac{1}{\sqrt{2}}({\mathrm{\ξ}}_r+{\mathrm{i\ξ}}_i)\sqrt{P_h\left(K\right)}---\left(4\right)$

Described K is bivector, for representing wind direction; Described P _h(K) energy spectral density of wave is represented; ξ _rand ξ _ibe Gauss number, represent the randomness of wave;

Step 22, described environmental simulation unit is joining day variable t in described formula (4), to form the sea state spectrum formula of wave:

$\tilde{h}(k,t)={\tilde{h}}_0\left(k\right)\exp \left\{i\mathrm{\ω}\left(k\right)t\right\}+{{\tilde{h}}_0}^{*}(-k)\exp \{-i\mathrm{\ω}\left(k\right)t\}---\left(5\right)$

Described ω is the correlation parameter of wave speed of advance, and described k is the mould of K; The relation formula of the speed of advance of described ω and wave is:

ω ²(K)＝g ^k(6)

Described g is acceleration due to gravity;

Step 23, described environmental simulation unit sets up the high computational formula for arc-shaped wave:

$h(X,t)=\underset{K}{\Σ}\tilde{h}(K,t)e^{iK\·X}---\left(7\right)$

Described X represents wave position in the horizontal direction; Described formula (5) and described formula (6) to substitute in described formula (7) and calculate the wave heights of different time diverse location by described environmental simulation unit;

Step 24, described service platform obtains described environment data model according to the result of calculation simulation of described environmental simulation unit.

Preferably, this ship navigation performance virtual measuring method, wherein, in described step 23, the high computational formula that described environmental simulation unit is set up for point wave is:

$D\left(x,t\right)=\underset{k}{\Σ}-i\frac{K}{k}\tilde{h}(k,t)\exp (iK\·x)---\left(8\right)$

The beneficial effect of technique scheme is: by the analog simulation of navigation performance virtual test system, reflect human-computer interaction during ship's navigation truly, improve testing level, shorten test period, reduce testing cost, and ensure that particularity and the real-time of motion simulation, further increase the fidelity of virtual test.

Accompanying drawing explanation

Fig. 1 is in embodiments of the invention, the structural representation of ship performance virtual test system;

Fig. 2 is in embodiments of the invention, the structural representation of service platform.

Fig. 3 is in embodiments of the invention, the overview flow chart of ship performance test;

Fig. 4 is in embodiments of the invention, calculates the schematic flow sheet of Simulation of ship motion in wave;

Fig. 5 is in embodiments of the invention, the schematic flow sheet of Ship ' path of motion;

Fig. 6 is in embodiments of the invention, realizes the schematic flow sheet of environmental simulation.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, the invention will be further described, but not as limiting to the invention.

Ship navigation performance mainly comprises resistance performance, propulsion quality, seakeeping performance and maneuvering performance etc., above-mentioned performance is carried out to the virtual test of system, need the ship performance virtual test system used as shown in Figure 1, this system specifically comprises memory storage, tool device, proving installation and service platform; Memory storage and tool device are positioned at system bottom, and proving installation is positioned at the supporting layer of system, has IO interface between supporting layer and bottom; Service platform is positioned at systematic difference layer, has IO interface between application layer and supporting layer.

Memory storage comprises first storage component and second storage component, wherein second storage component runs for preserving ship performance test macro the test result obtained, first storage component is for preserving the relevant criterion data in virtual test process, in embodiments of the invention, this normal data comprises the relevant test data of acquired outstanding ship type, for the design regulation data that various armies ship and civilian boat are specified, for set up environment data model relevant marine environment data and for test order data during ship performance virtual test;

The test data of outstanding ship type can comprise the structured data of ship type itself, adopt the test figures that realistic model is tested ship type, the test data that real ship is tested and the simulate data of ship type being carried out to simulation test, above-mentioned four kinds of data are kept in ship type data bank in second storage component, analogue test data bank, shiphoard measurement data bank and numerical simulation data storehouse respectively, the exploitation that the test data of outstanding ship type can be new herbicide provides failure-free parent form, and provides the basis of simulation modeling for the virtual test checking of navigation performance.

The design regulation data of specifying about army's ship and civilian boat are kept in the general specification data bank in second storage component, and design regulation data are used for comparing to the result of boats and ships virtual test, to determine whether ship performance meets design requirement.

The associated analog data of marine environment are kept in the Sea environment database in second storage component, and environmental simulation data are used for providing the data such as the stormy waves stream in relevant marine site and the depth of water for simulation modeling and virtual scene driving.

Test order data comprise the code of all kinds of model test and shiphoard measurement, are used to guide the analysis of the appointment of testing program, the control of process of the test and test figures.General test regular data was enabled before whole ship performance virtual test, for setting the test order of performance testing.

Be mounted with in tool device and be applicable to carry out the various instruments of modeling for test, in an embodiment of the present invention, instrument comprises various common software as CAD (ComputerAidedDesign, computer aided design), CAE (ComputerAidedEngineering, computer-aided design engineering) and CFD (ComputationalFluidDynamics, computing machine fluid dynamics) etc., also various developing instrument is comprised as simulation modeling instrument (as Creator and Matlab), virtual reality developing instrument is (as WTK, WegaPrime and MR), system integration instrument (as iSIGHT), software programming instrument is (as VC, VisualFortran and VisualStudio) and database development instrument (as Oracle, VisualFoxpro and Access) etc.

Supporting layer comprises a proving installation, this proving installation comprises multiple test cell, the data of multiple test subsystems application bottom and related tool, is done the simulation test on basis by the various piece of all kinds of correlation technique to ship performance;

Proving installation specifically comprises:

Resistance performance test cell, be mainly used in testing in hydrostatic the resistance of boats and ships under the different speed of a ship or plane of making linear uniform motion and around water flow field.FLUENT or the SHIPFLOW software that resistance performance test cell can be transferred in tool device is simulated above-mentioned motion, also can adopt the method estimation resistances such as regression formula, empirical equation or parent form correction.The test result of resistance performance test cell is applied to the forecast of screw propeller design and the speed of a ship or plane on the one hand, on the other hand for the foundation of the aeronautical data model for navigation performance virtual test provides necessary Data support.

Propulsion quality test cell, is mainly used in testing in hydrostatic the propulsion quality making the oar mould of linear uniform motion, specifically comprise the hydrodynamic performance of oar mould after spacious water or ship, around flow field and cavity and disturbance force performance.The FLUENT software that propulsion quality test cell can be transferred in tool device is simulated, and also can adopt the thrust of the method estimation screw propellers such as Atlas Method, lifting surface or panel method under different advance coefficient, moment of torsion and efficiency etc.The test result of propulsion quality test cell is on the one hand for optimizing screw propeller and speed of a ship or plane forecast, and the foundation that another aspect is aeronautical data model provides necessary Data support.

Seakeeping performance test cell, is mainly used in testing the motor imagination of ship model under different wave condition making linear uniform motion in wave.Seakeeping performance test cell can transfer SHIPMO software (based on strip theory) in tool device or HydroStar software (based on three-dimensional frequency domain theory).The test result of seakeeping performance test cell may be used for design and the optimization of rough water quality on the one hand, is that the foundation of aeronautical data model provides necessary Data support on the other hand, sways motion to simulate boats and ships in wave.

Maneuvering performance test cell, is mainly used in testing the path of motion making the ship model of various maneuvering motion in hydrostatic.Maneuvering performance test cell can transfer control simulation program SHIPMA (based on the integral type equation of motion) in tool device or MMG software (based on combined type movement equation) carries out virtual test.The test result of maneuvering performance test cell may be used for design and optimized handling performance on the one hand, and another aspect can as the data component part of aeronautical data model, to simulate the maneuvering motion of boats and ships.

Environmental simulation unit, be mainly used in generating the environmental conditions that may suffer from the ship's navigation processes such as wind, wave, stream, shallow water, bulkhead wall, ship, obstacle, in an embodiment of the present invention, environmental simulation unit is mainly used in simulating the stormy waves stream environment when ship's navigation, thus as the Data support that environment data model is set up.

Also comprise other virtual test cells in proving installation, do not repeat one by one at this.

Service platform in application layer is concrete as shown in Figure 2, comprising:

Control setup; In an embodiment of the present invention, control setup comprises main control computer (master control unit) and the network switch (the second link), main control computer connects the proving installation of supporting layer by the network switch, and forms corresponding conceptual data model by the test result process of read test device.

Image forming appts; In an embodiment of the present invention, image forming appts comprises multiple what comes into a driver's machine (image display part), graphics workstation (image production components) and the network switch (the first link), and multiple what comes into a driver's machine is projector.Graphics workstation produces corresponding emulating image according to above-mentioned conceptual data model, and above-mentioned emulating image is projected on an outside arcuate screens by projector, and image forming appts is connected to the proving installation of supporting layer by the network switch.

Operating control; In an embodiment of the present invention, operating control comprises computer for controlling (function unit) and ship control console (control member), ship control console carries out the virtual manipulation of boats and ships for user, computer for controlling forms corresponding steering command according to this virtual manipulation, and reflects respective virtual action when becoming the ship's navigation demonstrated on the emulating image of conceptual data model according to this steering command.

Above-mentioned image forming appts, control setup and operating control are interconnected, and are all connected to the proving installation of supporting layer.

As shown in Figure 3, in embodiments of the invention, apply the test method of above-mentioned ship performance proving installation, comprise the following aspects:

1. as shown in Figure 4, service platform, according to the test result of proving installation, forms the aeronautical data model that boats and ships navigate by water in wave.

This step specifically comprises:

First, data acquisition is carried out to the wave that stochastic simulation produces, and obtains the data such as wave type, wave height, period of a wave (i.e. wave frequencies).Because the wave produced at random can be divided into regular wave and random sea, in an embodiment of the present invention, random sea is expressed as the superposition of multiple regular wave, to simplify computation process.

Then, wave-induced motion principle is adopted to calculate diverse location not wave force data in the same time.In conventional art, frequency domain theory can be adopted to carry out the motion of Ship ' in wave, but not life period variable in this method of calculating, the requirement of virtual test can not be met; And other general time-domain calculation more complicated, the requirement of real-time cannot be met.Therefore, in an embodiment of the present invention, frequency domain strip theory is adopted to calculate the hydrodynamic force coefficient acting on hull, frequency domain value is converted to time-domain value by the mode then changed by time domain, now there will be time variable in computation process, and then set up the temporal motion differential equation of boats and ships, the step of wave-induced motion emulation is concrete as shown in Figure 5:

Gather and read every numerical value of Random Wave;

The temporal motion differential equation of wave-induced motion is as follows:

$\begin{array}{c}\underset{j=1}{\overset{5}{\Σ}}(M_{ij}+m_{ij}){\stackrel{\·\·}{x}}_j\left(t\right)+\underset{-\mathrm{\∞}}{\overset{t}{\∫}}{K}_{ij}\left(\mathrm{\τ}\right){\stackrel{\·}{x}}_j(t-\mathrm{\τ})d\mathrm{\τ}+C_{ij}{x}_j\left(t\right)=F_{Wi}\left(t\right)\\ i=1,\mathrm{...},5\end{array}---\left(1\right)$

Wherein x _jt () represents boats and ships function except five degree of freedom motion (swaying motion, yawing campaign, rolling motion, pitching motion and heaving) of surge motion on wave; M _ijrepresent the mass matrix of boats and ships; m _ijrepresent when wave frequencies is infinitely great, the added mass matrix of boats and ships; K _ij(τ) damping time delay function during ship's navigation is represented; C _ijrepresent recuperability coefficient during ship's navigation; F _wit wave force data that () is subject to when representing ship's navigation.

Above-mentioned formula is adopted to calculate the wave force data F of frequency domain under mode of doing more physical exercises in advance _wi(t), and form a wave force data bank.

When Real-time solution motion of ship, corresponding wave force data can be transferred according to the specific moment and to go forward side by side row operation, just can obtain about the diverse location motor imagination model that wave force is in the same time not corresponding.

While carrying out wave-induced motion calculating, the path of motion that ship's navigation produces is handled to user and gathers.In an embodiment of the present invention, MMG model (ShipManoeuvringMathematicalModelGroup, ship motion mathematical model investigation group, the separated foundation adopted when referring to boats and ships test at present) is adopted.The principal feature of MMG model is the dynaflow acted on boats and ships and moment to be decomposed into the force and moment acted on respectively on bare hull, spacious water screw propeller and rudder, considers the mutual interference of hull, screw propeller and rudder simultaneously.Therefore can show that maneuvering motion equation is:

$\begin{array}{c}(m+m_x)\stackrel{\·}{u}-(m+m_y)vr=X_H+X_P+X_R+X_A+X_W\\ (m+m_y)\stackrel{\·}{v}+(m+m_x)ur=Y_H+Y_P+Y_R+Y_A+Y_W\\ (I_{zz}+J_{zz})\stackrel{\·}{r}=N_H+N_P+N_R+N_A+N_W\\ (I_{xx}+J_{xx})\stackrel{\·\·}{\mathrm{\φ}}=K_H+K_P+K_R+K_A+K_W\\ 2\mathrm{\π}(I_{pp}+J_{pp})\stackrel{\·}{n}=Q_E+Q_P+Q_f\end{array}---\left(2\right)$

In formula (2), m represents the quality of boats and ships, m _xrepresent the added mass of boats and ships longitudinal direction, m _yrepresent the added mass of boats and ships transverse direction; I _xxrepresent ship rolling moment of inertia, I _zzrepresent that boats and ships head shakes moment of inertia, J _xxrepresent additional inertance moment during ship rolling, J _zzrepresent additional inertance moment when boats and ships head shakes; U represents longitudinal velocity during ship's navigation, and v represents cross velocity during ship's navigation, and r represents heading rate during ship's navigation, and φ represents angle of heel during ship's navigation; I _ppwhen representing ship's navigation, the rotor inertia of screw propeller, J _ppwhen representing ship's navigation, the additional rotation inertia of screw propeller, n represents the rotating speed of screw propeller; Q _ewhen representing ship's navigation, the torque that the main frame of boats and ships sends, Q _prepresent the torque that screw propeller receives, Q _fbecause axle system rubs the torque consumed when representing ship's navigation; The longitudinal force that X produces when representing ship's navigation, the transverse force produced when Y represents ship's navigation, N represents turn first moment during ship's navigation, and K represents rolling moment during ship's navigation; Subscript H represents the force data that bare hull produces and applied moment data; Subscript P represents the force data that screw propeller produces and applied moment data; Subscript R represents the force data that rudder for ship produces and applied moment data; The force data that wind-force when subscript A represents ship's navigation produces and applied moment data; The force data that wave when subscript W represents ship's navigation produces and applied moment data.

When ship's navigation is subject to affecting of wind-force, wind tunnel test can be adopted on the application layer to measure every numerical value of windage in advance, comprise wind pressure coefficient, wind moment coefficient and wind pressure position of action point etc., above-mentioned numerical value also can be calculated by CFD instrument and obtain.

When ship's navigation is subject to affecting of current, usual water currents can be divided into equal uniform flow to affect and steady flow impact.Steady flow refers to that the flow velocity of current does not change in time; Equal uniform flow refers to that current are all consistent at the flow velocity of diverse location.And no matter the angular velocity in yaw of boats and ships is speed through water or ground speed, all completely the same when equal uniform flow.Therefore, the ship maneuvering equation under flow action can convert acquisition a little by formula (2):

$\begin{array}{c}\left(m+m_x\right)\stackrel{\·}{u}=X_H\left(u_r,v_r,r\right)+X_P\left(u_r,v_r,r\right)+X_R\left(u_r,v_r,r\right)+\left(m+m_y\right)v_{r}r+\left(m+m_x\right)v_{C}r+X_A+X_W\\ \left(m+m_y\right)\stackrel{\·}{v}=Y_H\left(u_r,v_r,r\right)+Y_P\left(u_r,v_r,r\right)+Y_R\left(u_r,v_r,r\right)-\left(m+m_x\right)u_{r}r-\left(m+m_y\right)v_{C}r+Y_A+Y_W\\ \left(I_{zz}+J_{zz}\right)\stackrel{\·}{r}=N_H\left(u_r,v_r,r\right)+N_P\left(u_r,v_r,r\right)+N_R\left(u_r,v_r,r\right)+N_A+N_W\end{array}---\left(3\right)$

In above-mentioned formula (3), u _rrepresent the speed through water of longitudinal direction during ship's navigation, v _rrepresent the speed through water of transverse direction during ship's navigation, v _crepresent that the flow speed value of current is in boats and ships magnitude component in a lateral direction, u _crepresent the magnitude component of flow speed value on boats and ships longitudinal direction;-(m+m _y) u _cr represents the transverse force produced when boats and ships are at equal uniform flow Air China row, (m+m _y) v _cr represents the longitudinal force that boats and ships produce when equal uniform flow Air China row; Its dependent variable of formula (3) is identical with formula (2) in form.

Above-mentioned formula is adopted to calculate the path of motion that ship maneuvering produces and obtain path of motion model.

Service platform finally forms in conjunction with above-mentioned motor imagination model and path of motion model the aeronautical data model navigated by water in wave about boats and ships.

2. as shown in Figure 5, service platform, according to the test result of proving installation, forms the environment data model of ship's navigation environmental simulation.

First, the formula about initial sea state spectrum is set up

$\widetilde{h_0}\left(K\right)=\frac{1}{\sqrt{2}}({\mathrm{\ξ}}_r+{\mathrm{i\ξ}}_i)\sqrt{P_h\left(K\right)}---\left(4\right)$

In above-mentioned formula (4), K is bivector, has direction and size simultaneously, represents phase parameter, can be used for representing wind direction; P _h(K) energy spectral density of wave is represented; ξ _rand ξ _ibe Gauss number, represent the randomness of wave.

Subsequently, in formula (4), introduce time variable t, the sea state spectrum formula after converting and time correlation joined:

$\tilde{h}(k,t)={\tilde{h}}_0\left(k\right)\exp \left\{i\mathrm{\ω}\left(k\right)t\right\}+{{\tilde{h}}_0}^{*}(-k)\exp \{-i\mathrm{\ω}\left(k\right)t\}---\left(5\right)$

In above-mentioned formula (5), described ω represents the correlation parameter of wave speed of advance, and described k is the mould of K.

The computing formula of ω is specially:

ω ²(K)＝g ^k(6)

Wherein g is acceleration due to gravity.

Finally, the formula calculating wave heights is set up:

$h(X,t)=\underset{K}{\Σ}\tilde{h}(K,t)e^{iK\·X}---\left(7\right)$

In above-mentioned formula (7), X represents the position of wave in the horizontal direction in (i.e. X-direction).

Formula (4) and formula (5) are updated in formula (7), and solved by Fast Fourier Transform (FFT) (FFT, FastFourierTransformation) and obtain diverse location not wave heights situation in the same time.

But above-mentioned formula (7) only can calculate the wave heights of general arc-shaped, namely can only simulate the wave of general arc-shaped.If the point wave of simulating wind-engaging and water currents and producing, also needs to calculate time dependent wave horizontal displacement.The formula calculating point wave height can be converted a little by formula (7) and obtain:

$D\left(x,t\right)=\underset{k}{\Σ}-i\frac{K}{k}\tilde{h}(k,t)\exp (iK\·x)---\left(8\right)$

Variable in above-mentioned formula (8) corresponds to the variable meaning in aforementioned formula, does not repeat them here.

Service platform is according to the wave heights of the optional position any time calculated, and simulation obtains environment data model.

Finally, service platform, in conjunction with aeronautical data model and environment data model, draws the conceptual data model of final simulation boats and ships real navigation situation.

When the marine environment simulated is projected on arcuate screens by graph generating device by service platform, because marine site is very broad, if fill whole sea level, need to create a large amount of grids, so just require that video card carries out quite huge graphics calculations, general video card obviously cannot reach above-mentioned requirements.Therefore, in order to make the unlikely too complex of the computation process of processing graphics, a kind of technology of the grid model display marine site projection adopting center constant is also provided in embodiments of the invention, be specially: divide multiple local coordinate system according to different points of view, with the initial point that viewpoint is each local coordinate system, wave grid is drawn centered by this initial point, only need to local coordinate system transformation during mesh transformations, the absolute coordinates of grid is avoided to convert, to raise the efficiency.

Meanwhile, in embodiments of the invention, system also adopts the technique of display based on LOD (LevelofDetail, detail) to realize the simulation of marine site image.Namely each grid has different resolution, keeps higher resolution from the grid close to viewer, and along with distance viewer is more and more far away, the resolution of corresponding grid linearly reduces.Owing to not needing all grids all to keep same resolution to show image, therefore under the prerequisite keeping fidelity (namely resolution can not be too little, in order to avoid distortion is fuzzy), the efficiency that wave reproduces can be further increased.

In addition, in embodiments of the invention, the fidelity that raster grating reproduces to improve wave can also be adopted, namely Shader Language (HighLevelShaderLanguage is adopted, HLSL) coloring treatment of seawater grid is carried out, the multiple special efficacy of superposition overwater refraction, promotes the fidelity reproduced and reproducing efficiency further.Meanwhile, Distributed Rendering Environment technology can be adopted, make application program keep scene as one man to stride across multiple passage.

The foregoing is only preferred embodiment of the present invention; not thereby embodiments of the present invention and protection domain is limited; to those skilled in the art; should recognize and all should be included in the scheme that equivalent replacement done by all utilizations specification sheets of the present invention and diagramatic content and apparent change obtain in protection scope of the present invention.

Claims (12)

1. a ship navigation performance virtual test system, is characterized in that, comprising:

Memory storage, described memory storage comprises first storage component and second storage component; Standard comparison data and the test order data of ship navigation performance test are preserved in described first storage component; The test result data of ship performance virtual test is preserved in described second storage component;

Tool device; Described tool device comprises multiple testing tool for testing ship navigation performance;

Proving installation; Described proving installation connects described memory storage and described tool device respectively; Described proving installation transfers described standard comparison data in described memory storage and described test order data, and the described testing tool in described tool device, and tests ship navigation performance, and described proving installation comprises an environmental simulation unit;

Service platform; Described service platform is connected to described proving installation; Described service platform according to the test result of described proving installation, according to preset method establishment ship's navigation time conceptual data model;

The ship navigation performance virtual measuring method applying described ship navigation performance virtual test system specifically comprises:

Step 1, described service platform obtains according to the test result process that described proving installation obtains the aeronautical data model that boats and ships navigate by water in wave;

Step 2, the environment data model of residing environment when described service platform obtains ship's navigation according to the test result process that described proving installation obtains;

Step 3, described service platform, in conjunction with described aeronautical data model and described environment data model, obtains described conceptual data model when simulating boats and ships real navigation;

Described step 2 specifically comprises:

Step 21, described environmental simulation unit sets up initial sea state spectrum formula

${\tilde{h}}_0\left(K\right)=\frac{1}{\sqrt{2}}({\mathrm{\ξ}}_r+{\mathrm{i\ξ}}_s)\sqrt{P_h\left(K\right)}---\left(4\right)$

Described i is complex unit;

Described K is bivector, for representing wind direction; Described P _h(K) energy spectral density of wave is represented; ξ _rand ξ _sbe Gauss number, represent the randomness of wave;

Step 22, described environmental simulation unit is joining day variable t in described formula (4), to form the sea state spectrum formula of wave:

$\tilde{h}(k,t)={\tilde{h}}_0\left(k\right)\exp \left\{i\mathrm{\ω}\left(k\right)t\right\}+{\tilde{h}}_0(-k)\exp \{-i\mathrm{\ω}\left(k\right)t\}---\left(5\right)$

Described ω is the correlation parameter of wave speed of advance, and described k is the mould of K; The relation formula of the speed of advance of described ω and wave is:

ω ²(K)＝g ^k(6)

Described g is acceleration due to gravity;

Step 23, the high computational formula for arc-shaped wave set up by described proving installation:

$h(X,t)=\underset{K}{\Σ}\tilde{h}(K,t)e^{iK\·X}---\left(7\right)$

Described X represents wave position in the horizontal direction; Described formula (5) and described formula (6) to substitute in described formula (7) and calculate the wave heights of different time diverse location by described proving installation;

Step 24, described service platform obtains described environment data model according to the result of calculation simulation of described proving installation.

2. ship navigation performance virtual test system as claimed in claim 1, is characterized in that, described standard comparison data comprise the environmental simulation data of the simulate data of standard ship, the authority data of ship design and ship's navigation.

3. ship navigation performance virtual test system as claimed in claim 1, it is characterized in that, described proving installation comprises:

Resistance performance test cell, the resistance be subject to during for testing ship's navigation in hydrostatic;

Propulsion quality test cell, for testing propulsion quality during ship's navigation in hydrostatic;

Seakeeping performance test cell, the motor imagination situation to different wave condition during for testing ship's navigation;

Maneuvering performance test cell, for testing path of motion during ship's navigation in hydrostatic;

Environmental simulation unit, for simulating environmental conditions during ship's navigation.

4. ship navigation performance virtual test system as claimed in claim 1, it is characterized in that, described service platform comprises:

Control setup, for reading the test result of described proving installation and forming corresponding described conceptual data model;

Image forming appts, for generation of the emulating image of described conceptual data model;

Operating control, respective virtual action during for the control action of user being reflected as the ship's navigation on described emulating image;

Described control setup, described image forming appts and described operating control are connected to each other, and are all connected to described proving installation.

5. ship navigation performance virtual test system as claimed in claim 4, it is characterized in that, image forming appts comprises:

Image production components, for producing the emulating image of corresponding described conceptual data model according to the test result of described proving installation;

Image display part, described image display part is connected to described image production components; Described image display part is for showing the emulating image of the described conceptual data model of described image production components generation;

First link, described image forming appts is connected to described proving installation by described first link.

6. ship navigation performance virtual test system as claimed in claim 5, it is characterized in that, described image display part is projection equipment; The emulating image of described conceptual data model is projected on an outside arcuate screens by described projection equipment.

7. ship navigation performance virtual test system as claimed in claim 4, it is characterized in that, described operating control comprises:

Control member, handles described conceptual data model for user;

Function unit, described function unit is connected to described control member; Described function unit reads the control action of user and process obtains corresponding steering command.

8. ship navigation performance virtual test system as claimed in claim 4, it is characterized in that, described control setup comprises:

Master control unit, described master control unit forms corresponding described conceptual data model by the test result process of read test device;

Second link, described control setup is connected to described proving installation by described second link.

9. ship navigation performance virtual test system as claimed in claim 1, is characterized in that, also comprise a seakeeping performance test cell and a maneuvering performance test cell in described proving installation;

Described step 1 specifically comprises:

Step 11, described service platform test according to described proving installation ship's navigation time the wave force data of random seaway that are subject to, to the motor imagination model under different wave condition when obtaining ship's navigation; Described proving installation will not be kept in the described second storage component of described memory storage with the multiple described wave force data of diverse location in the same time;

Step 12, described service platform test according to described proving installation ship's navigation time the force data that is subject to and applied moment data, the path of motion model that when obtaining ship's navigation, corresponding different steering command produces;

Step 13, described service platform, according to described motor imagination model and described path of motion model, obtains described aeronautical data model during ship's navigation.

10. ship navigation performance virtual test system as claimed in claim 9, it is characterized in that, described step 11 specifically comprises:

Step 111, described seakeeping performance test cell obtains the Wave Data of described random seaway; Described Wave Data comprises the wave type of described random seaway, wave height and period of a wave;

Step 112, acts on the hydrodynamic force coefficient of described boats and ships, and expresses described hydrodynamic force coefficient with frequency domain value when described seakeeping performance test cell calculates ship's navigation according to described Wave Data; Described hydrodynamic force coefficient comprises the added mass of boats and ships and the damping coefficient of wave;

Step 113, described hydrodynamic force coefficient is converted to the numerical value of expressing with time-domain value by described seakeeping performance test cell;

Step 114, described seakeeping performance test cell calculates not the described wave force data of diverse location in the same time by setting up boats and ships temporal motion differential formulas:

Described boats and ships temporal motion differential formulas is:

$\begin{array}{c}\underset{j=1}{\overset{5}{\Σ}}\left(M_{ij}+m_{ij}\right){\stackrel{\·\·}{x}}_j\left(t\right)+\underset{-\mathrm{\∞}}{\overset{t}{\∫}}{K}_{ij}\left(\mathrm{\τ}\right){\stackrel{\·}{x}}_j(t-\mathrm{\τ})d\mathrm{\τ}+C_{ij}{x}_j\left(t\right)=F_{Wi}\left(t\right)\\ i=1,...,5\end{array}---\left(1\right)$

Described x _jt () represents boats and ships function except five degree of freedom motions of surge motion on wave; Described degree of freedom motion comprises the swaying motion of boats and ships, yawing campaign, rolling motion, pitching motion and heaving;

Described M _ijrepresent the mass matrix of boats and ships; Described m _ijrepresent when wave frequencies is infinitely great, the added mass matrix of boats and ships; Described K _ij(τ) damping time delay function during ship's navigation is represented; Described C _ijrepresent recuperability coefficient during ship's navigation; Described F _wit wave force data that () is subject to when representing ship's navigation;

Step 115, the multiple described wave force data obtained from different described random seaways are preserved in the described first storage component of described memory storage by described seakeeping performance test cell;

Step 116, described service platform reads multiple described wave force data, obtains the described motor imagination model during ship's navigation under corresponding described wave force data.

11. ship navigation performance virtual test systems as claimed in claim 9, it is characterized in that, described step 12 specifically comprises:

Step 121, act on the described force data on bare hull, screw propeller and rudder for ship and described applied moment data when described maneuvering performance test cell obtains ship's navigation, the formula obtaining described force data and described applied moment data is:

$(m+m_x)\stackrel{\·}{u}-(m+m_y)vr=X_H+X_P+X_R+X_A+X_W$

$(m+m_y)\stackrel{\·}{v}+(m+m_x)ur=Y_H+Y_P+Y_R+Y_A+Y_W$

$(I_{zz}+J_{zz})\stackrel{\·}{r}=N_H+N_P+N_R+N_A+N_W$

$(I_{xx}+J_{xx})\stackrel{\·\·}{\mathrm{\φ}}=K_H+K_P+K_R+K_A+K_W$

$2\mathrm{\π}(I_{pp}+J_{pp})\stackrel{\·}{n}=Q_E+Q_P+Q_f---\left(2\right)$

M represents the quality of boats and ships, m _xrepresent the added mass of boats and ships longitudinal direction, m _yrepresent the added mass of boats and ships transverse direction;

I _xxrepresent ship rolling moment of inertia, I _zzrepresent that boats and ships head shakes moment of inertia, J _xxrepresent additional inertance moment during ship rolling, J _zzrepresent additional inertance moment when boats and ships head shakes;

U represents longitudinal velocity during ship's navigation, and v represents cross velocity during ship's navigation, and r represents heading rate during ship's navigation, and φ represents angle of heel during ship's navigation;

I _ppwhen representing ship's navigation, the rotor inertia of screw propeller, J _ppwhen representing ship's navigation, the additional rotation inertia of described screw propeller, n represents the rotating speed of described screw propeller;

Q _ewhen representing ship's navigation, the torque that the main frame of boats and ships sends, Q _prepresent the torque that screw propeller receives, Q _fbecause axle system rubs the torque consumed when representing ship's navigation;

The longitudinal force that X produces when representing ship's navigation, the transverse force produced when Y represents ship's navigation, N represents turn first moment during ship's navigation, and K represents rolling moment during ship's navigation; Subscript H represents the described force data that described bare hull produces and described applied moment data; Subscript P represents the described force data that described screw propeller produces and described applied moment data; Subscript R represents the described force data that described rudder for ship produces and described applied moment data; The described force data that wind-force when subscript A represents ship's navigation produces and described applied moment data; The described force data that wave when subscript W represents ship's navigation produces and described applied moment data;

Step 122, wind-force data during described maneuvering performance test cell test ship's navigation; Described wind-force data comprise wind pressure coefficient, wind moment coefficient and wind pressure position of action point; Described maneuvering performance test cell will obtain under windage in formula (2) described in described wind-force data importing, described path of motion during ship's navigation;

Step 123, the ship's navigation path of motion of described maneuvering performance test cell test under water currents, path of motion formula and described formula (2) similar, for:

$(m+m_x)\stackrel{\·}{u}=X_H(u_r,v_r,r)+X_P(u_r,v_r,r)+X_R(u_r,v_r,r)+(m+m_y)v_{r}r+(m+m_x)v_{C}r+X_A+X_W$

$(m+m_y)\stackrel{\·}{v}=Y_H(u_r,v_r,r)+Y_P(u_r,v_r,r)+Y_R(u_r,v_r,r)-(m+m_x)u_{r}r-(m+m_y)u_{C}r+Y_A+Y_W$

$\left(I_{zz}+J_{zz}\right)\stackrel{\·}{r}=N_H(u_r,v_r,r)+N_P(u_r,v_r,r)+N_R(u_r,v_r,r)+N_A+N_W---\left(3\right)$

Described u _rrepresent the speed through water of longitudinal direction during ship's navigation, described v _rrepresent the speed through water of transverse direction during described ship's navigation, described v _crepresent that the flow speed value of current is in boats and ships magnitude component in a lateral direction, described u _crepresent the magnitude component of described flow speed value on boats and ships longitudinal direction; Described-(m+m _y) u _cr represents the transverse force produced when boats and ships are at equal uniform flow Air China row, described (m+m _y) v _cr represents the longitudinal force that boats and ships produce when equal uniform flow Air China row;

Step 124, the result that described service platform detects according to described maneuvering performance test cell, draws described path of motion model during ship's navigation.

12. ship navigation performance virtual test systems as claimed in claim 1, is characterized in that, in described step 23, the high computational formula that described environmental simulation unit is set up for point wave is:

$D\left(X,t\right)=\underset{k}{\Σ}-i\frac{K}{k}\tilde{h}(k,t)\exp (iK\·X)---\left(8\right).$