CN108153976A - The emulation mode and host computer of naval vessel rolling motion in a kind of wave - Google Patents

The emulation mode and host computer of naval vessel rolling motion in a kind of wave Download PDF

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Publication number
CN108153976A
CN108153976A CN201711422217.1A CN201711422217A CN108153976A CN 108153976 A CN108153976 A CN 108153976A CN 201711422217 A CN201711422217 A CN 201711422217A CN 108153976 A CN108153976 A CN 108153976A
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wave
rolling
naval vessel
rolling motion
motion
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CN108153976B (en
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杨顺中
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Electric Group Co ltd In Chongqing Of Chongqing China
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Electric Group Co ltd In Chongqing Of Chongqing China
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design

Abstract

The invention discloses a kind of emulation modes of naval vessel rolling motion in wave, including being used to generate the host computer of simulating sports order and performing the simulator of simulating sports order, include the following steps：Step 1：Input the slope of wave surface energy spectral density S of ocean wave motionα(ω)；Step 2：The roll angle amplitude spectrum density S on naval vessel is calculated according to permanent moral random theoryφ′(ω)；Step 3：To roll angle amplitude spectrum density S in step 2φThe calculation formula of ' (ω) is modified, and obtains revised roll angle amplitude spectrum density Sφ(ω)；Step 4：Calculate the variance m of rolling motion0φ；Step 5：Mean roll angle amplitude is calculated according to varianceStep 6：Calculate ariyoshi rolling angular amplitudeStep 7：Host computer is according to ariyoshi rolling angular amplitudeSimulating sports order is generated, and is sent to simulator.The invention also discloses the host computers for performing the above method.The present invention enables to rolling simulating sports to simplify mathematical model closer to true rolling motion, it is easy to accomplish, greatly reduce calculation amount.

Description

The emulation mode and host computer of naval vessel rolling motion in a kind of wave
Technical field
The present invention relates to a kind of emulation mode of Ship Motion, especially rolling motion emulation of the naval vessel in wave.
Background technology
Ship's fitting is produced, needs to consider that naval vessel is movement, has heave and rolling, pitching, naval vessel with wave Equipment must have corresponding shock resistance and reliability, study the experimental provision of sea wave simulation for the warships shipborne equipments such as stabilizer, It is critically important that the detection of product, which provides good platform,.Three-axis swinging platform is a kind of common dress for being used to test ship's fitting It puts, mainly including inside casing, center and outline border, inside casing, center and outline border are equipped with corresponding motor, in the prior art using rule Sine wave come wave simulated movement, to the motion control commands of the motor output rule of three-axis swinging platform, make three-axis swinging platform Produce the oscillating motion of rule, but true ocean wave motion is randomness and irregular, therefore is tested for improving The reliability and science of platform need a kind of test platform that can simulate wave real motion.Three-axis swinging platform.
Invention content
In view of the above shortcomings of the prior art, the present invention provides a kind of emulation mode of naval vessel rolling motion in wave, solution It the technical issues of certainly causing rolling motion analog distortion serious using the movement of sine wave wave simulated in the prior art, enables to Rolling simulating sports simplify mathematical model closer to true rolling motion, it is easy to accomplish, greatly reduce calculation amount.
In order to solve the above-mentioned technical problem, present invention employs following technical solutions：Naval vessel rolling is transported in a kind of wave Dynamic emulation mode, including being used to generate the host computer of simulating sports order and performing the simulator of simulating sports order, Include the following steps：
Step 1：Input the slope of wave surface energy spectral density S of ocean wave motionα(ω)：Wherein, g is What gravity accelerated, ω is wave frequencies,For one-parameter stormy waves spectrum density, A=0.78, B=3.11/H1/3,H1/3For wave ariyoshi wave height；
Step 2：The roll angle amplitude spectrum density S on naval vessel is calculated according to permanent moral random theoryφ′(ω)：
Sφ' (ω)=| W (iw) |2Sα(ω)；
Wherein, | W (iw) | for linear osccilation system transter, physical significance is that have the disturbance of unit amplitude defeated Go out；Wherein, nφFor rolling inherent circular frequency, vφIt is to include the damping of ship in itself With the roll damping factor of stabilizer damping；
Step 3：To roll angle amplitude spectrum density S in step 2φThe calculation formula of ' (ω) is modified, and is obtained revised Roll angle amplitude spectrum density Sφ(ω)：
Wherein, xφFor correction factor, xφ=xφB·xφT, xφBBe consider beam finiteness correction factor, xφTTo consider Water correction factor is moved caused by absorbing water finiteness；
Step 4：Calculate the variance m of rolling motion0φ：
Wherein, f1The lower limit of value range for wave frequencies, f2The upper limit of value range for wave frequencies；
Step 5：Calculate mean roll angle amplitude
Step 6：Calculate ariyoshi rolling angular amplitude φ1/3：
Step 7：Host computer is according to ariyoshi rolling angular amplitude φ1/3Simulating sports order is generated, and is sent to simulator, Simulator performs simulating sports order, so as to fulfill the emulation of rolling motion.
The present invention also provides a kind of host computer for the emulation of naval vessel rolling motion, including memory and controller, institute It states and rolling simulated program is stored in memory, the rolling simulated program can be horizontal according to naval vessel in above-mentioned wave by controller The sequence for shaking step 1 to step 7 in the emulation mode of movement performs.
Compared with prior art, the invention has the advantages that：
1st, naval vessel is calculated using permanent moral random theory and sways movement in irregular wave：On the one hand the fortune of wave is followed Dynamic regulation is permanent moral random process；Another aspect rolling is unrelated random process with heave movement, in this way by rolling motion It is peeled away with heave movement, is simplified problem.
2nd, the slope of wave surface energy spectral density of the roll angle amplitude spectrum density on naval vessel and ocean wave motion is passed through into linear osccilation system The transmission function of system associates, so as to which the slope of wave surface energy spectral density being more prone to according to ocean wave motion calculates the horizontal stroke on naval vessel Cradle angle amplitude spectrum density, is easy to implement, fast and easy, and calculation amount is small.
3rd, parameter v is introduced in transmission functionφIt then takes into account naval vessel damping in itself and damping that stabilizer provides, makes The emulation for obtaining rolling motion is more in line with truth.
4th, correction factor xφThe influence of the beam and draft to slope of wave surface is taken into account simultaneously, improves the reliable of emulation Property and accuracy.
Description of the drawings
Fig. 1 is that the Ba Pulianke beam and drinking water finiteness correct collection of illustrative plates；
Fig. 2 is the rolling oscillogram using the emulation mode of present embodiment.
Specific embodiment
The present invention is described in further detail with preferred embodiment below in conjunction with the accompanying drawings.
In present embodiment：Gravity acceleration g=9.81m/s2；Pi=3.1415926；The beam is 10.4m；Absorb water d=3.1m；Draining D=1323.2m；Rolling radius of inertia coefficient c=0.35；Rolling radius of inertia Lou=c* The beam (m)；The total rotary inertia Jt=D/g*Lou of rolling2；The high h=0.94m in transverse stability center；Rolling additional rotation inertia dJt= 0.25*Jt；Roll damping factor vφ=0.2256.
The emulation mode of naval vessel rolling motion in a kind of wave, including be used to generate simulating sports order host computer and The simulator of simulating sports order is performed, is included the following steps：
Step 1：Input the slope of wave surface energy spectral density S of ocean wave motionα(ω)：
Wherein, g accelerates for gravity, g=9.81m/s2, ω is wave frequencies,For one-parameter stormy waves spectrum density,
A=0.78, B=3.11/H1/3,H1/3For wave ariyoshi wave height, institute State wave ariyoshi wave height H1/3Value be 3.5 meters；
Step 2：The roll angle amplitude spectrum density S on naval vessel is calculated according to permanent moral random theoryφ(ω)：
Sφ' (ω)=| W (iw) |2Sα(ω)；
Wherein, | W (iw) | for linear osccilation system transter, physical significance is that have the disturbance of unit amplitude defeated Go out；Wherein, nφFor rolling inherent circular frequency,The value range of T It is 5~15 seconds；vφIt is to include the damping of ship in itself and the roll damping factor of stabilizer damping, vφ=0.2256；
Step 3：To roll angle amplitude spectrum density S in step 2φThe calculation formula of ' (ω) is modified, and is obtained revised Roll angle amplitude spectrum density Sφ(ω)：
Wherein, xφFor correction factor, xφ=0.8774；xφ=xφB·xφT, xφBIt is the amendment system for considering beam finiteness Number, depends on and beam wavelength ratio (B/ λ) and ship cross section shape；xφTTo consider to move water correction factor caused by absorbing water finiteness, Depending on drinking water wavelength ratio (T/ λ) and ship cross section shape；xφB、xφTIt is limited according to the Ba Pulianke beam of Fig. 1 and drinking water respectively Property correct collection of illustrative plates chosen, designed water line area coefficient Cw=0.6 in figure, Block Coefficient Cb=0.5；
Step 4：Calculate the variance m of rolling motion0φ：
Wherein, f1The lower limit of value range for wave frequencies, f2The upper limit of value range for wave frequencies, f1= 0.2HZ, f2=2.0HZ；
Step 5：Calculate mean roll angle amplitude
Step 6：Calculate ariyoshi rolling angular amplitude φ1/3：
Step 7：Host computer is according to ariyoshi rolling angular amplitude φ1/3Simulating sports order is generated, and is sent to simulator, Simulator performs simulating sports order, so as to fulfill the emulation of rolling motion.
The host computer for the emulation of naval vessel rolling motion of present embodiment, it is described including memory and controller Rolling simulated program is stored in memory, the rolling simulated program can be by controller according to naval vessel rolling in above-mentioned wave The sequence of step 1 to step 7 performs in the emulation mode of movement.Rolling oscillogram as shown in Figure 2 is obtained in the host computer, Ship rolling angle in figure refers to ariyoshi rolling angular amplitude φ in step 61/3, as can be seen from the figure waveform have randomness and Scrambling can preferably simulate true ocean wave motion.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention rather than restriction technologies side Case, although applicant is described in detail the present invention with reference to preferred embodiment, those of ordinary skill in the art should manage Solution, those are modified or replaced equivalently technical scheme of the present invention, without departing from the objective and range of the technical program, It is intended to be within the scope of the claims of the invention.

Claims (6)

1. a kind of emulation mode of naval vessel rolling motion in wave, including being used to generate the host computer of simulating sports order and hold The simulator of row simulating sports order, it is characterised in that：Include the following steps：
Step 1：Input the slope of wave surface energy spectral density S of ocean wave motionα(ω)：
Wherein, g is what gravity accelerated, and ω is wave frequencies,For one-parameter stormy waves spectrum density,
A=0.78, B=3.11/H1/3；H1/3For wave ariyoshi wave height；
Step 2：The roll angle amplitude spectrum density S on naval vessel is calculated according to permanent moral random theoryφ′(ω)：
Sφ' (ω)=| W (iw) |2Sα(ω)；
Wherein, | W (iw) | for linear osccilation system transter, physical significance is that the disturbance with unit amplitude exports；Wherein, nφFor rolling inherent circular frequency, vφBe include the damping of ship in itself with The roll damping factor of stabilizer damping；
Step 3：To roll angle amplitude spectrum density S in step 2φThe calculation formula of ' (ω) is modified, and obtains revised rolling Angular width degree spectrum density Sφ(ω)：
Wherein, xφFor correction factor, xφ=xφB·xφT, xφBBe consider beam finiteness correction factor, xφTTo consider to absorb water Water correction factor is moved caused by finiteness；
Step 4：Calculate the variance m of rolling motion0φ：
Wherein, f1The lower limit of value range for wave frequencies, f2The upper limit of value range for wave frequencies；
Step 5：Calculate mean roll angle amplitude
Step 6：Calculate ariyoshi rolling angular amplitude φ1/3：
Step 7：Host computer is according to ariyoshi rolling angular amplitude φ1/3Simulating sports order is generated, and is sent to simulator, is emulated Device performs simulating sports order, so as to fulfill the emulation of rolling motion.
2. the emulation mode of naval vessel rolling motion in wave according to claim 1, it is characterised in that：The wave ariyoshi Wave height H1/3Value be 3.5 meters.
3. the emulation mode of naval vessel rolling motion in wave according to claim 1, it is characterised in that：f1=0.2HZ, f2 =2.0HZ.
4. the emulation mode of naval vessel rolling motion in wave according to claim 1, it is characterised in that：T's Value range is 5~15 seconds.
5. the emulation mode of naval vessel rolling motion in wave according to claim 1, it is characterised in that：Correction factor xφ= 0.8774。
6. a kind of host computer for the emulation of naval vessel rolling motion, including memory and controller, it is characterised in that：The storage Rolling simulated program is stored in device, the rolling simulated program can be by controller according to any described in claim 1 to 5 Wave in naval vessel rolling motion emulation mode in step 1 to step 7 sequence perform.
CN201711422217.1A 2017-12-25 2017-12-25 Simulation method for rolling motion of ship in sea waves and upper computer Active CN108153976B (en)

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CN110717216A (en) * 2019-08-30 2020-01-21 南京航空航天大学 Method for forecasting rolling response of helicopter with flexible air bag under irregular wave

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CN110717216A (en) * 2019-08-30 2020-01-21 南京航空航天大学 Method for forecasting rolling response of helicopter with flexible air bag under irregular wave
CN110717216B (en) * 2019-08-30 2023-05-23 南京航空航天大学 Roll response forecasting method for helicopter with flexible air bags under irregular waves

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