CN108153976B - Simulation method for rolling motion of ship in sea waves and upper computer - Google Patents

Simulation method for rolling motion of ship in sea waves and upper computer Download PDF

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CN108153976B
CN108153976B CN201711422217.1A CN201711422217A CN108153976B CN 108153976 B CN108153976 B CN 108153976B CN 201711422217 A CN201711422217 A CN 201711422217A CN 108153976 B CN108153976 B CN 108153976B
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杨顺中
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Chongqing Huayu Electric Instrument Group Co Ltd
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Abstract

The invention discloses a method for simulating rolling motion of a ship in sea waves, which comprises an upper computer for generating a simulation motion command and a simulation device for executing the simulation motion command, and comprises the following steps: step 1: input wave motion wave dip angle energy spectrum density Sα(ω); step 2: calculating the transverse rocking angle amplitude spectrum density S of the ship according to the random theory of constancyφ' (ω); and step 3: for the width spectrum density S of the roll angle in the step 2φ'omega' calculation formula is corrected to obtain corrected transverse rocking angle amplitude spectral density Sφ(ω); and 4, step 4: calculating the variance m of the roll motion0φ(ii) a And 5: calculating the average roll angle amplitude according to the variance
Figure DDA0001523204800000011
Step 6: calculating sense roll angle amplitude
Figure DDA0001523204800000012
And 7: the upper computer according to the amplitude of the sense transverse rocking angle
Figure DDA0001523204800000013
And generating a simulation motion command and sending the simulation motion command to the simulation device. The invention also discloses an upper computer for executing the method. The invention can make the rolling simulation movement closer to the real rolling movement, simplifies the mathematical model, is easy to realize and greatly reduces the calculated amount.

Description

Simulation method for rolling motion of ship in sea waves and upper computer
Technical Field
The invention relates to a simulation method of ship motion, in particular to rolling motion simulation of a ship in sea waves.
Background
The ship equipment is required to be produced, the fact that the ship moves and has heaving, rolling and pitching motions along with sea waves needs to be considered, the ship equipment has corresponding shock resistance and reliability, and an experimental device for researching sea wave simulation is important for providing a good platform for detection of ship equipment and products such as fin stabilizers and the like. The triaxial rocking platform is a commonly used device for testing ship equipment, and mainly comprises an inner frame, a middle frame and an outer frame, wherein the inner frame, the middle frame and the outer frame are respectively provided with a corresponding motor, regular sine waves are adopted to simulate wave motion in the prior art, regular motion control commands are output to the motors of the triaxial rocking platform, so that the triaxial rocking platform generates regular rocking motion, but real wave motion is random and irregular, and therefore, the test platform capable of simulating real wave motion is required for improving the reliability and the scientificity of the test platform. Three-axis rocking platform.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for simulating the rolling motion of a ship in sea waves, which solves the technical problem of serious rolling motion simulation distortion caused by adopting sine waves to simulate the sea wave motion in the prior art, can enable the rolling simulation motion to be closer to the real rolling motion, simplifies a mathematical model, is easy to realize and greatly reduces the calculated amount.
In order to solve the technical problems, the invention adopts the following technical scheme: a simulation method of ship rolling motion in sea waves comprises an upper computer for generating simulation motion commands and a simulation device for executing the simulation motion commands, and comprises the following steps:
step 1: input wave motion wave dip angle energy spectrum density Sα(ω)：
Figure BDA0001523204780000011
Wherein g is gravity accelerated, ω is wave frequency,
Figure BDA0001523204780000012
is a single-parameter wind wave spectrum density,
Figure BDA0001523204780000013
A＝0.78,B＝3.11/H1/3,H1/3the wave height of the sea wave is the sense wave height;
step 2: calculating the transverse rocking angle amplitude spectrum density S of the ship according to the random theory of constancyφ′(ω)：
Sφ′(ω)＝|W(iw)|2Sα(ω)；
Wherein, | w (iw) | is a transfer function of the linear oscillation system, and the physical meaning is a disturbance output with unit amplitude;
Figure BDA0001523204780000021
wherein n isφIs the natural circular frequency of roll, vφRoll damping factors including the damping of the vessel itself and the damping of the fin stabilizer;
and step 3: for the width spectrum density S of the roll angle in the step 2φ'omega' calculation formula is corrected to obtain corrected transverse rocking angle amplitude spectral density Sφ(ω)：
Figure BDA0001523204780000022
Wherein x isφTo correct the coefficient, xφ＝xφB·xφT，xφBIs a correction factor, x, taking into account the finite width of the shipφTThe flowing water correction coefficient caused by the limited draught is considered;
and 4, step 4: calculating the variance m of the roll motion0φ：
Figure BDA0001523204780000023
Wherein f is1Is the lower limit of the value range of the wave frequency, f2The upper limit of the value range of the wave frequency is set;
and 5: calculating average roll angle amplitude
Figure BDA0001523204780000024
Figure BDA0001523204780000025
Step 6: calculating sense roll angle amplitude phi1/3：
Figure BDA0001523204780000026
And 7: the upper computer performs the operation according to the sense transverse rocking angle amplitude phi1/3And generating a simulation motion command, sending the simulation motion command to the simulation device, and executing the simulation motion command by the simulation device so as to realize the simulation of the rolling motion.
The invention also provides an upper computer for ship rolling motion simulation, which comprises a memory and a controller, wherein a rolling simulation program is stored in the memory, and the rolling simulation program can be executed by the controller according to the sequence from the step 1 to the step 7 in the ship rolling motion simulation method in sea waves.
Compared with the prior art, the invention has the following beneficial effects:
1. calculating the swaying motion of the ship in irregular waves by using a fixed-term random theory: on one hand, following the motion rule of the waves is a fixed-term random process; on the other hand, the rolling and the heaving motions are unrelated random processes, so that the rolling motion and the heaving motion are separated, and the problem is simplified.
2. The roll angle amplitude spectrum density of the ship and the wave dip angle energy spectrum density of the wave motion are related through a transfer function of the linear oscillation system, so that the roll angle amplitude spectrum density of the ship and the wave dip angle energy spectrum density of the wave motion can be calculated more easily according to the wave dip angle energy spectrum density of the wave motion, the method is convenient to achieve, convenient and fast to use, and small in calculation amount.
3. Introducing a parameter v into the transfer functionφThe damping of the ship and the damping provided by the fin stabilizer are considered, so that the simulation of the rolling motion is more consistent with the real situation.
4. Correction factor xφMeanwhile, the influence of the ship width and the draft on the wave inclination angle is considered, and the reliability and the accuracy of simulation are improved.
Drawings
FIG. 1 is a corrected map of the width and draft limitations of a Barpagoda ship;
fig. 2 is a rolling waveform diagram of the simulation method according to the present embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and preferred embodiments.
In this embodiment: acceleration of gravity g is 9.81m/s2(ii) a The circumference ratio pi is 3.1415926; the width of the ship is 10.4 m; the draught d is 3.1 m; the drainage D is 1323.2 m; the roll inertia radius coefficient c is 0.35; roll inertia radius Lou ═ c beam width (m); total moment of inertia of roll Jt ═ D/g Lou2(ii) a The height h of the stability center is 0.94 m; roll additional moment of inertia dJt ═ 0.25 × Jt; roll damping factor vφ＝0.2256。
A simulation method of ship rolling motion in sea waves comprises an upper computer for generating simulation motion commands and a simulation device for executing the simulation motion commands, and comprises the following steps:
step 1: input wave motion wave dip angle energy spectrum density Sα(ω)：
Figure BDA0001523204780000031
Wherein g is gravity acceleration, and g is 9.81m/s2And omega is the frequency of the waves,
Figure BDA0001523204780000032
is a single-parameter wind wave spectrum density,
Figure BDA0001523204780000041
A＝0.78,B＝3.11/H1/3,H1/3is the wave height of the wave sense1/3The value of (a) is 3.5 m;
step 2: calculating the transverse rocking angle amplitude spectrum density S of the ship according to the random theory of constancyφ(ω)：
Sφ′(ω)＝|W(iw)|2Sα(ω)；
Wherein, | w (iw) | is a transfer function of the linear oscillation system, and the physical meaning is a disturbance output with unit amplitude;
Figure BDA0001523204780000042
wherein n isφIn order to roll the natural circular frequency,
Figure BDA0001523204780000043
the value range of T is 5-15 seconds; v. ofφRoll damping factor, v, for damping including the ship itself and fin dampingφ＝0.2256；
And step 3: for the width spectrum density S of the roll angle in the step 2φ'omega' calculation formula is corrected to obtain corrected transverse rocking angle amplitude spectral density Sφ(ω)：
Figure BDA0001523204780000044
Wherein x isφTo correct the coefficient, xφ＝0.8774；xφ＝xφB·xφT，xφBIs a correction coefficient considering the finite ship width, and depends on the ship width wavelength ratio (B/lambda) and the ship cross section shape; x is the number ofφTThe dynamic water correction coefficient caused by the limited draught is considered and depends on the draught wavelength ratio (T/lambda) and the cross-sectional shape of the ship; x is the number ofφB、xφTSelecting according to the cophoke width and draught limitation correction maps of fig. 1, respectively, wherein a water line area coefficient Cw is 0.6, and a square coefficient Cb is 0.5;
and 4, step 4: calculating the variance m of the roll motion0φ：
Figure BDA0001523204780000045
Wherein f is1Is the lower limit of the value range of the wave frequency, f2Is the upper limit of the value range of the wave frequency, f1＝0.2HZ，f2＝2.0HZ；
And 5: calculating average roll angle amplitude
Figure BDA0001523204780000051
Figure BDA0001523204780000052
Step 6: calculating sense roll angle amplitude phi1/3：
Figure BDA0001523204780000053
And 7: the upper computer performs the operation according to the sense transverse rocking angle amplitude phi1/3And generating a simulation motion command, sending the simulation motion command to the simulation device, and executing the simulation motion command by the simulation device so as to realize the simulation of the rolling motion.
The upper computer for ship rolling motion simulation of the present embodiment includes a memory and a controller, where the memory stores a rolling simulation program, and the rolling simulation program can be executed by the controller according to the sequence from step 1 to step 7 in the simulation method for ship rolling motion in sea waves. Obtaining a rolling wave form diagram as shown in figure 2 in the upper computer, wherein the ship rolling angle in the diagram refers to the sense rolling angle amplitude phi in the step 61/3The wave form can be seen from the figure to have randomness and irregularity, and the real wave motion can be better simulated.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and although the present invention has been described in detail by referring to the preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of the present invention can be made without departing from the spirit and scope of the technical solutions, and all the modifications and equivalent substitutions should be covered by the claims of the present invention.

Claims (6)

1. A simulation method of ship rolling motion in sea waves comprises an upper computer for generating simulation motion commands and a simulation device for executing the simulation motion commands, and is characterized in that: the method comprises the following steps:
step 1: input wave motion wave dip angle energy spectrum density Sα(ω)：
Figure FDA0001523204770000011
Wherein g is gravity accelerated, ω is wave frequency,
Figure FDA0001523204770000016
is a single-parameter wind wave spectrum density,
Figure FDA0001523204770000012
A＝0.78,B＝3.11/H1/3；H1/3the wave height of the sea wave is the sense wave height;
step 2: calculating the transverse rocking angle amplitude spectrum density S of the ship according to the random theory of constancyφ′(ω)：
Sφ′(ω)＝|W(iw)|2Sα(ω)；
Wherein, | w (iw) | is a transfer function of the linear oscillation system, and the physical meaning is a disturbance output with unit amplitude;
Figure FDA0001523204770000013
wherein n isφIs the natural circular frequency of roll, vφRoll damping factors including the damping of the vessel itself and the damping of the fin stabilizer;
and step 3: for the width spectrum density S of the roll angle in the step 2φ'omega' calculation formula is corrected to obtain corrected transverse rocking angle amplitude spectral density Sφ(ω)：
Figure FDA0001523204770000014
Wherein x isφTo correct the coefficient, xφ＝xφB·xφT，xφBIs a correction factor, x, taking into account the finite width of the shipφTThe flowing water correction coefficient caused by the limited draught is considered;
and 4, step 4: calculating the variance m of the roll motion0φ：
Figure FDA0001523204770000015
Wherein f is1Is the lower limit of the value range of the wave frequency, f2The upper limit of the value range of the wave frequency is set;
and 5: calculating average roll angle amplitude
Figure FDA0001523204770000024
Figure FDA0001523204770000021
Step 6: calculating sense roll angle amplitude phi1/3：
Figure FDA0001523204770000022
And 7: the upper computer performs the operation according to the sense transverse rocking angle amplitude phi1/3And generating a simulation motion command, sending the simulation motion command to the simulation device, and executing the simulation motion command by the simulation device so as to realize the simulation of the rolling motion.
2. The method for simulating rolling motion of a vessel in ocean waves according to claim 1, wherein the method comprises the following steps: the sense wave height H of the sea wave1/3Is 3.5 meters.
3. The method for simulating rolling motion of a vessel in ocean waves according to claim 1, wherein the method comprises the following steps: f. of1＝0.2HZ，f2＝2.0HZ。
4. The method for simulating rolling motion of a vessel in ocean waves according to claim 1, wherein the method comprises the following steps:
Figure FDA0001523204770000023
the value range of T is 5-15 seconds.
5. Method for simulating rolling motion of a vessel in ocean waves according to claim 1, characterized in thatThe method comprises the following steps: correction factor xφ＝0.8774。
6. The utility model provides a host computer for naval vessel rolling motion simulation, includes memory and controller, its characterized in that: the memory stores a rolling simulation program which can be executed by the controller according to the sequence of steps 1 to 7 in the simulation method of the rolling motion of the ship in the sea waves of any one of claims 1 to 5.
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