CN110457827B - General calculation method for resistance of yacht movement mathematical model in yacht simulator - Google Patents
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Abstract
The invention discloses a general resistance calculation method of a yacht movement mathematical model in a yacht simulator, which comprises the following steps: reading yacht molded line data and simplifying a yacht geometric model; dividing a yacht movement volume Friedel number interval; calculating yacht resistance; the resistance calculation is combined with the yacht simulator. The invention simplifies the yacht geometric model to be a prismatic yacht model, reduces the mathematical expression difficulty of the yacht geometric model, thereby reducing the difficulty of yacht resistance modeling and the complexity of calculation, and providing convenience for yacht resistance modeling and real-time calculation. According to the invention, the yacht resistance is solved in a segmented way by a method for dividing the yacht movement state, so that the problems that the resistance calculation of the yacht sliding navigation stage is inaccurate by the existing resistance algorithm in the simulator and the flat plate sliding theory is inapplicable in the yacht drainage navigation stage are solved, the yacht resistance calculation method can be well applied to engineering application, and the requirements of the yacht simulator in the present stage on the calculation precision of the yacht movement mathematical model resistance are met.
Description
Technical Field
The invention relates to a yacht simulator, in particular to a general resistance calculation method of a yacht movement mathematical model in the yacht simulator.
Background
Along with the development of the economy in China and the improvement of the living standard of people, the yacht gradually goes into the field of leisure and entertainment of people, and the yacht industry is rapidly raised. As the number of yachts increases, so too does the demand of yacht operators, and the certification of the maritime office's practise qualification for yacht operators. In addition, due to the complexity and dangers of the offshore environment, yacht operators need to have a solid business level and handling capability of random strain. In this context it is particularly important to enhance the training of yacht drivers. Most of institutions engaged in yacht driving training train drivers by adopting a real yacht training method, the method has the problems of high cost, low training efficiency, large process risk and the like, and the problems can be effectively solved by adopting a simulator for training.
The yacht movement mathematical model is a key technology of a yacht simulator, and the resistance calculation of a yacht is one of important contents of the yacht movement mathematical model. Unlike conventional vessels, the resistance of yacht has the following characteristics: when the ship sails at a low speed, the resistance of the yacht is slightly higher than that of a common water draining ship, the forming factors of the resistance of the yacht and the water draining ship are the same, the resistance change trend is similar, and the resistance is increased along with the increase of the ship speed. When the ship enters a high speed, the resistance of the common water-draining ship is unchanged, the resistance is still increased along with the increase of the ship speed, the resistance composition is changed after the yacht enters a sliding state at the high speed, the buoyancy is negligible, the gravity of the ship is provided by the hydrodynamic lift force, the resistance of the ship tends to be stable, and the resistance hardly changes along with the increase of the navigational speed. How to calculate yacht resistance efficiently and accurately is a very challenging task.
The yacht resistance forecast is usually estimated by adopting test data of a series of yacht models, and a common series of models comprises: series 62 (us series 62 and netherlands series 62), series 65, and us navy school series, etc. And then, a model test method and a semi-empirical semi-theoretical method are adopted to conduct resistance prediction, wherein the model test method is used for conducting resistance prediction by using a series of tests on a ship model in a test pool, and the semi-empirical semi-theoretical method is used for conducting resistance prediction by combining a prismatic sliding flat theory with an empirical correction method. The resistance obtained by the test pool method is most accurate, but the method has the problems of high cost and poor universality, huge financial resources and materials are needed for building the pool and the ship models, each ship model can only aim at a specific yacht, and the method is not applicable to yachts with different shapes. The semi-empirical semi-theoretical method is based on a certain theoretical basis and has higher universality, but the calculation accuracy of the method is greatly influenced by the speed of the yacht, and the calculation error of yacht resistance in the drainage stage is larger. At present, due to the rapid improvement of computer performance and the rapid progress of theoretical calculation, a computational fluid mechanics method becomes a main method for forecasting yacht resistance, and domestic and foreign expert scholars conduct a great deal of research on yacht resistance based on viscous flow or potential flow theory. The method has the advantages of high calculation precision and low test cost, but has the problems of higher requirement on the performance of the calculation equipment and time consumption in the calculation process, and is weaker in engineering application. The yacht simulator is a real-time calculation simulation program for the masses, and has very high requirements on the algorithm efficiency and the algorithm calculation cost, so that a high-efficiency, economical, accurate and universal resistance algorithm is required to be provided for yacht movement mathematical model simulation.
The references of the present invention are as follows:
1. zhuhu yacht overview, shanghai university Press 2012:20-25.
2. Dong Wencai, guo Rixiu, development of resistance study of planing boat [ J ], ship mechanics, 2000 (4): 68-81.
3、De Jong P，Seakeeping Behaviour ofHigh Speed Ships:An Experimental and Numerical Study(Ph.D.diss.).DelftUniversity ofTechnology，2011。
4、Tarafder M S、Saaki A R，Computation ofresistance ofhigh speed planing craft using Savitsky’s theory[C]//12th International Conference on Mechanical Engineering(ICME)，2017.1-10。
5、Faltinsen O M，Hydrodynamics of high-speed marine vehicles[M].Cambridge universitypress，2006.342-389。
6、Zhao,R&Faltinsen,O.M.&Haslum,H.A..A simplified nonlinear analysis of a high-speed planing craft in calm water[C]//Proceedings,4th Int.Conf.on Fast SeaTransportation，1997.431-438。
7、Begovic E,Bertorello C.Resistance assessment ofwarped hullform[J].Ocean Engineering，2012,56(4):28-42。
8、Sun H,Huang D,Zou J,et al.Research on the resistance test of trimaran planing hulls[C]//International Conference on Remote Sensing.IEEE,2011.6257-6259。
9. Li Xiaochen, yin Yong, zhou Hongyu, zhang Xiufeng, simulation of the maneuvering of a yacht in a normal transverse regular wave [ J ], university of maritime university, 2017,43 (03): 1-6.
10. Jin Yi, yin Yong, marine simulator [ M ]. Beijing: scientific Press, 2013:11-30.
Disclosure of Invention
In order to solve the problems in the prior art, the invention designs the yacht movement mathematical model resistance general calculation method which has the advantages of low calculation cost, wide application range, high solving efficiency and calculation precision and can meet the requirements of a yacht simulator in all speed intervals of yacht movement.
In order to achieve the above object, the technical scheme of the present invention is as follows:
a general calculation method for resistance of a yacht movement mathematical model in a yacht simulator comprises the following steps:
A. reading yacht molded line data and simplifying yacht geometric model
And acquiring a yacht model diagram according to yacht design data, digitizing the model diagram and reading the model diagram into a yacht movement mathematical model calculation program. The yacht geometric model parameters are obtained from the profile diagram, and comprise yacht total length, yacht waterplane length, yacht crease line length, yacht keel length, yacht maximum width, yacht crease line width, yacht water line width, yacht midship width, yacht average width, yacht bow ramp angle, yacht midship ramp angle, yacht stern ramp angle, yacht average ramp angle and yacht crease line ramp angle. When the geometric model of the yacht is simplified, three parameters of the total length of the yacht, the folding angle line width of the yacht and the inclined rising angle of the midship of the yacht are selected as the reference for simplification, and the geometric model of the yacht which is smooth and warped is simplified into a prismatic yacht.
B. Dividing the Froude number interval of the yacht movement volume
The yacht is divided into three movement phases according to the movement characteristics: a drainage sailing stage, a transition sailing stage and a taxiing sailing stage. The clear limit exists between different motion states of the yacht, namely the yacht is divided into a drainage navigation state when the volume Froude number is smaller than 1, a transition navigation state when the volume Froude number is between 1 and 3, and a sliding navigation state when the volume Froude number is larger than 3.
C. Yacht resistance calculation
Establishing a yacht movement local coordinate system O-XYZ: the origin of coordinates O is the center of gravity of the simplified model of the yacht, the X axis points to the stern, the Y axis points to the starboard, and the Z axis points upwards perpendicular to the XY plane.
C1, yacht resistance calculation in water drainage sailing stage
When the yacht is used for water drainage and sailing, the resistance is slightly higher than that of a common water drainage ship, the forming factors of the resistance and the resistance are the same, the resistance change trend is similar, and the resistance is increased along with the increase of the ship speed. The resistance calculation formula at the yacht water drainage sailing stage is as follows:
wherein ρ is the sea water density, C t For the coefficient of friction, u is the yacht longitudinal speed and S is the yacht wetted surface area.
C2, yacht resistance calculation in transitional sailing stage
The yacht gradually enters a bow-lifting state in a transitional sailing stage, the resistance of the yacht is not completely changed at the moment, and the soaked surface area of the yacht is changed at the moment due to the occurrence of a longitudinal inclination angle. At the moment, the pitch angle of the yacht is solved by using the flat plate sliding theory, and the geometric shape of the yacht is simplified as a prismatic yacht shape in the earlier stage, so that the wetted surface of the yacht is solved according to the geometric relationship between the yacht and the still water. The yacht transitional voyage stage resistance is still calculated using equation (1), but the yacht wetted surface area is calculated as follows:
wherein B is the width of the yacht after simplification, L C The wetting length of the folding angle line of the yacht is tau, the longitudinal inclination angle of the ship and Z max The vertical coordinate of the maximum pressure position of the Z axis of the yacht is V, the yacht speed is V, and beta is the yacht inclined lift angle.
C3, calculation of yacht resistance in planing navigation stage
The yacht enters a sliding sailing state at high speed, the component of resistance changes, the buoyancy of the yacht is ignored, gravity is provided by hydrodynamic lift force, the yacht resistance tends to be stable, and the resistance hardly changes along with the increase of the sailing speed. The blocked force in the planing and sailing stage of the yacht is calculated as follows:
Resistance planing ＝Δtanτ+R f /cosτ (3)
wherein delta is the total weight of the yacht, R f Is frictional resistance. The total weight of the yacht is obtained by yacht design data, the yacht friction resistance is consistent with a method for calculating the friction resistance in a drainage stage, and the key for calculating the resistance in a yacht sliding sailing stage is to calculate the stable sailing of the yachtThe pitch angle τ is then constant. Based on the flat planing theory and the related study of Savitsky on prismatic planing boats, the yacht constant pitch angle is calculated by equations (4) - (7). According to the weight and the width of the yacht, a dynamic lift coefficient of the yacht is calculated according to a formula (4), then a lift coefficient is corrected according to a formula (5), a yacht width Froude number of real-time movement of the yacht is calculated according to the longitudinal position, the width and the speed of the center of gravity of the yacht, a wet surface aspect ratio of real-time movement of the yacht is calculated according to a formula (6) in combination with a related study of Savitsky, the corrected lift coefficient, the ship real-time wet surface aspect ratio and the yacht width Froude number are substituted into a formula (7), and then a yacht resistance is calculated according to a formula (3).
Wherein C is L0 Is the lift coefficient lambda at a ramp angle of 0 W To wet the aspect ratio of the surface, fn B Is the Froude number of the width of the yacht, C Lβ LCG is the longitudinal position of the yacht gravity center from the stern for the lift coefficient when the angle of ascent is β.
D. Resistance calculation and yacht simulator combination
The yacht resistance is calculated through the method, the resistance value is transmitted into a yacht movement mathematical model to be calculated in real time, and meanwhile, the yacht simulator is driven to operate finally in cooperation with a yacht simulator vision program.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention simplifies the yacht geometric model to be a prismatic yacht model, reduces the mathematical expression difficulty of the yacht geometric model, thereby reducing the difficulty of yacht resistance modeling and the complexity of calculation, and providing convenience for yacht resistance modeling and real-time calculation.
2. The prismatic hull simplifying assumption of the invention provides convenience for the application of the flat plate sliding theory, enhances the theoretical basis of resistance calculation, enables yachts with different shapes to perform resistance calculation by the method, obtains calculation results meeting the requirements of yacht simulators, saves calculation cost and improves the universality of algorithms.
3. According to the invention, the yacht resistance is solved in a segmented manner by a method for dividing the yacht movement state, so that the problems that the resistance calculation of the yacht sliding navigation stage is inaccurate by the existing resistance algorithm in the simulator and the flat plate sliding theory is not applicable in the yacht drainage navigation stage are solved, and the accuracy of the results is higher than that of a computational fluid mechanics method or a pool test method, but the real-time performance of the noble algorithm is high, the yacht resistance calculation method can be well applied to engineering application, and the requirement of the yacht simulator in the current stage on the calculation accuracy of the yacht movement mathematical model is met.
Drawings
Fig. 1 is a flow chart of an embodiment of the present invention.
Fig. 2 is a plan view of a geometric model of a yacht design.
Fig. 3 is an elevation view of a geometric model of a yacht design.
Fig. 4 is a right side view of the yacht design geometry model.
Fig. 5 is a simplified geometric model top view of the yacht.
Fig. 6 is a simplified geometric model elevation view of the yacht.
Fig. 7 is a right side view of a simplified geometric model of a yacht.
Fig. 8 is a view of a yacht movement local coordinate system.
Fig. 9 is a yacht resistance calculation comparison result.
Fig. 10 is a test result of a resistance algorithm implanted yacht simulator.
Detailed Description
The invention is further described below with reference to the accompanying drawings. As shown in fig. 1, a general calculation method for resistance of a yacht movement mathematical model in a yacht simulator comprises the following steps:
A. reading yacht molded line data and simplifying yacht geometric model
Fig. 2-4 are schematic diagrams of yacht design geometric models, fig. 5-7 are schematic diagrams of yacht simplified geometric models, yacht model diagrams are obtained from yacht design data, and the model diagrams are digitized and read into a yacht movement mathematical model calculation program. 1-3, it can be seen that the original geometric model of the yacht is complex and difficult to clearly express by a mathematical formula, when the geometric model of the yacht is simplified, three parameters including the total length of the yacht, the folded angle line width of the yacht and the inclined elevation angle of the midship of the yacht can be selected as references for simplification, and the smooth and warped geometric model of the yacht is simplified into a prismatic yacht. Fig. 5-7 are simplified ship shapes with three parameters of yacht total length, yacht bevel line width and yacht midship inclined lift angle, the simplified model has a simpler mathematical expression form, is convenient for carrying out stress analysis and numerical calculation, and can reduce yacht resistance modeling difficulty and model calculation amount.
B. Dividing the space of the volume Froude number of the yacht movement state
The yacht is divided into three movement phases according to the movement characteristics: a drainage sailing stage, a transition sailing stage and a taxiing sailing stage. The test data shows that: typically, when the yacht has a volume Froude number of less than 1, the yacht is in a water-draining sailing stage; when the volume Froude number of the yacht is between 1 and 3, the yacht is in a transitional sailing stage; when the volume Froude number of the yacht is more than 3, the yacht is in a sliding stage. There is no clear limit between two adjacent sailing states, and there is a difference in the motion state dividing limits between different boat types. Based on the current research situation, the invention assumes that a clear limit exists between different motion states of the yacht, takes the yacht volume Friedel numbers 1 and 3 as a division standard, the values are smaller than 1, the water drainage navigation state is the transition navigation state between 1 and 3, and the sliding navigation state is larger than 3, if the modeled yacht has relevant test data, the division standard can be corrected according to the test data. Different resistance calculation methods are adopted in different sailing states.
C. Method for judging yacht movement state and selecting resistance calculation
Firstly, according to a setting system shown in fig. 8, setting initial conditions of yacht movement according to a state instruction sent by a yacht simulator, calculating yacht volume Friedel numbers according to initial speed and yacht ship type data, and carrying out sectional calculation on yacht resistance according to the division standard of the step B. The resistance in the drainage sailing stage is calculated by adopting a formula (1). In the transitional sailing stage, the yacht gradually generates a longitudinal inclination angle, the wetted surface area of the yacht is changed at any time, and the geometric model of the yacht is simplified into a prismatic shape, so that the real-time changed wetted area can be calculated by adopting a method of a formula (2), and then the resistance calculation is performed by adopting a formula (1). After the yacht enters the planing navigation stage, the resistance components of the yacht change, the resistance calculation method is shown in a formula (3), the steady pitch angle of steady-state movement of the yacht is the key of resistance calculation, the yacht is analyzed by using a flat plate planing theory, the steady pitch angle of the yacht can be calculated by formulas (4) - (7) based on a Savitsky method, and then the resistance calculation is carried out. FIG. 9 is a schematic diagram of a drag algorithm validation. The blocks in the figure are test data of a model real ship, and the circles are algorithm results of the invention, so that the resistance calculation value curve and the test value curve have the same change trend in the whole movement process of the yacht, the error is smaller, and the requirement of the yacht simulator on the accuracy of the yacht resistance model is met.
D. Application of resistance algorithm implanted in yacht simulator
The algorithm is implanted into a yacht simulator platform for verification, yacht movement state quantity is calculated in real time in the running process of the yacht simulator and fed back to a yacht movement mathematical model, and further, next ship movement calculation is carried out. Before the system starts to run, the operation of the steps A and B can be carried out during the setting exercise, and the simplification of the boat and the division of the movement interval are finished in advance; and C, repeatedly calling the step C in the running process of the system, solving the resistance born by the yacht in real time, and pushing the yacht simulator to run until the running of the system is stopped. Fig. 10 shows the test results of the accelerating motion and the rotating motion of the algorithm in the yacht simulator, the yacht motion effect is good, the simulation data are relatively consistent with the experimental data, and the error meets the requirement of the yacht simulator on the accuracy of the yacht motion model.
The present invention is not limited to the present embodiment, and any equivalent concept or modification within the technical scope of the present invention is listed as the protection scope of the present invention.
Claims (1)
1. A general calculation method for resistance of a yacht movement mathematical model in a yacht simulator is characterized by comprising the following steps: the method comprises the following steps:
A. reading yacht molded line data and simplifying yacht geometric model
Acquiring a yacht model diagram according to yacht design data, digitizing the model diagram and reading the model diagram into a yacht movement mathematical model calculation program; obtaining yacht geometric model parameters from a profile diagram, wherein the yacht geometric model parameters comprise yacht total length, yacht water plane length, yacht crease line length, yacht keel length, yacht maximum width, yacht crease line width, yacht water line width, yacht midship width, yacht average width, yacht bow ramp angle, yacht midship ramp angle, yacht stern ramp angle, yacht average ramp angle and yacht crease line ramp angle; when the geometric model of the yacht is simplified, three parameters of the total length of the yacht, the folding angle line width of the yacht and the inclined rising angle of the midship of the yacht are selected as references for simplification, and the geometric model of the yacht which is smooth and warped is simplified into a prismatic yacht;
B. dividing the Froude number interval of the yacht movement volume
The yacht is divided into three movement phases according to the movement characteristics: a drainage sailing stage, a transition sailing stage and a sliding sailing stage; assuming that clear boundaries exist between different motion states of the yacht, namely dividing the yacht into a drainage sailing state when the volume Froude number is smaller than 1, dividing the yacht into a transition sailing state when the volume Froude number is between 1 and 3, and dividing the yacht into a sliding sailing state when the volume Froude number is larger than 3;
C. yacht resistance calculation
Establishing a yacht movement local coordinate system O-XYZ: the origin of coordinates O is the gravity center of the simplified model of the yacht, the X axis points to the stern, the Y axis points to the starboard, and the Z axis points upwards vertical to the XY plane;
c1, yacht resistance calculation in water drainage sailing stage
When the yacht is used for water drainage and sailing, the resistance is slightly higher than that of a common water drainage ship, the forming factors of the resistance and the resistance are the same, the resistance change trend is similar, and the resistance is increased along with the increase of the ship speed; the resistance calculation formula at the yacht water drainage sailing stage is as follows:
wherein ρ is the sea water density, C t The friction coefficient is u is the longitudinal speed of the yacht, and S is the wetted surface area of the yacht;
c2, yacht resistance calculation in transitional sailing stage
The yacht gradually enters a bow-lifting state in a transitional sailing stage, the resistance of the yacht is not completely changed at the moment, and the soaked surface area of the yacht is changed at the moment due to the occurrence of a longitudinal inclination angle; at the moment, the pitch angle of the yacht is solved by using a flat plate sliding theory, and the geometric shape of the yacht is simplified as a prismatic yacht shape in the earlier stage, so that the wetted surface of the yacht is solved according to the geometric relationship between the yacht and the still water; the yacht transitional voyage stage resistance is still calculated using equation (1), but the yacht wetted surface area is calculated as follows:
wherein B is the width of the yacht after simplification, L C The wetting length of the folding angle line of the yacht is tau, the longitudinal inclination angle of the ship and Z max The vertical coordinate of the maximum pressure position of the Z axis of the yacht is V, the yacht speed is V, and beta is the yacht inclined lift angle;
c3, calculation of yacht resistance in planing navigation stage
The yacht enters a sliding navigation state at high speed, the component of resistance is changed, the buoyancy of the yacht is ignored, the gravity is provided by the hydrodynamic lift force, the yacht resistance tends to be stable, and the resistance hardly changes along with the increase of the navigational speed; the blocked force in the planing and sailing stage of the yacht is calculated as follows:
Resistance planing ＝Δtanτ+R f /cosτ (3)
wherein delta is the total weight of the yacht, R f Is friction resistance; the total weight of the yacht is obtained by yacht design data, the yacht friction resistance is consistent with a friction resistance calculation method in a drainage stage, and the key of calculating the resistance in a yacht sliding navigation stage is to calculate a steady longitudinal inclination angle tau after the yacht stably navigates; based on the flat-plate planing theory and the related research of Savitsky on the prismatic planing boat, the constant pitch angle of the planing boat is calculated by formulas (4) - (7); according to the weight and the width of the yacht, calculating a dynamic lift coefficient of the yacht by a formula (4), correcting a lift coefficient by a formula (5), calculating a yacht width Froude number of real-time movement of the yacht according to the longitudinal position, the width and the speed of the center of gravity of the yacht, calculating a wetted surface aspect ratio of real-time movement of the yacht by a formula (6) in combination with a related study of Savitsky, substituting the corrected lift coefficient, the ship real-time wetted surface aspect ratio and the yacht width Froude number into a formula (7), and further calculating a yacht resistance by a formula (3);
wherein C is L0 Is the lift coefficient lambda at a ramp angle of 0 W To wet the aspect ratio of the surface, fn B Is the Froude number of the width of the yacht, C Lβ The lift coefficient is given when the inclined lift angle is beta, and LCG is the longitudinal position of the yacht gravity center from the stern;
D. resistance calculation and yacht simulator combination
C, calculating yacht resistance, transmitting a resistance value into a yacht movement mathematical model to calculate in real time, and simultaneously matching with a yacht simulator vision program to finally drive the yacht simulator to operate.
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