CN111291453A - Method for determining water power of ship - Google Patents

Method for determining water power of ship Download PDF

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CN111291453A
CN111291453A CN202010202876.XA CN202010202876A CN111291453A CN 111291453 A CN111291453 A CN 111291453A CN 202010202876 A CN202010202876 A CN 202010202876A CN 111291453 A CN111291453 A CN 111291453A
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speed
drift angle
hydrodynamic
surging
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CN111291453B (en
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王晓原
夏媛媛
姜雨函
朱慎超
王芳涵
王曼曼
张露露
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Navigation Brilliance Qingdao Technology Co Ltd
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Abstract

The invention relates to a hydrodynamic force determination method of a ship, which comprises the steps of obtaining a hydrodynamic force coefficient of an MMG model under the condition that the ship has a medium drift angle; the middle drift angle is as follows: the drift angle of the ship is more than 20 degrees and less than 30 degrees; according to the hydrodynamic coefficient of the MMG model under the condition that the ship is at the intermediate drift angle and the preset first surging speed u of the ship at the intermediate drift angle1First swaying speed v1First yaw rate r1The method comprises the steps of obtaining the transverse oscillation hydrodynamic force, the longitudinal oscillation hydrodynamic force and the heading hydrodynamic moment of the ship under the condition of a middle drift angle, obtaining a hydrodynamic model when the drift angle is 20-30 degrees by utilizing a fitting method, and overcoming the defect that the hydrodynamic coefficient cannot be obtained through an empirical formula in the drift angle range.

Description

Method for determining water power of ship
Technical Field
The invention relates to the field of simulation prediction, in particular to a ship hydrodynamic force determination method.
Background
With the development of the shipping industry, new ships and intelligent ships gradually attract wide attention, and whether the handling performance of the ships meets the requirement of safety is always a topic of great attention. Forecasting the maneuvering performance is a very important work, and the methods for forecasting the maneuverability of a ship mainly comprise 4 methods: empirical formula method, constraint test method, ship control motion mathematical model and computer simulation, and CFD-based numerical simulation method. The constraint test method depends on a physical pool, the test cost is high, the period is long, and the scale effect exists. The CFD-based numerical simulation has higher requirements on the performance of a computer, each hydrodynamic derivative in the motion mathematical model is determined by using an empirical formula, and the method for simulating the ship motion mathematical model by using the computer has relatively low simulation cost and easy operation, and is the most widely and effectively applied method at present.
The conventional ship maneuvering hydrodynamic mathematical model includes an integral model and a separate model, and the separate model is represented by a japanese mmg (marine mechanical model group) model. The MMG model divides hydrodynamic load acting on the ship body into hydrodynamic forces acting on the bare ship body, the propeller and the rudder, and finally obtains a ship motion mathematical model by considering the mutual influence among the ship, the propeller and the rudder. The mathematical model needs to determine a plurality of ship parameters, can be obtained through a ship model test or an empirical formula, and is simpler and more convenient compared with the ship model test, but the empirical formula cannot cover all working conditions, the condition that no empirical formula can be referred to exists in the drift angle range of 20-30 degrees, the hydrodynamic coefficient of the ship motion mathematical model MMG in the drift angle range of 20-30 degrees cannot be determined, and the defects of comprehensive and systematic forecast simulation of ship maneuverability are difficult to perform.
Disclosure of Invention
Technical problem to be solved
In order to solve the above problems of the prior art, the present invention provides a ship hydrodynamic force determination method.
(II) technical scheme
In order to achieve the above object, the present invention provides a method for determining hydrodynamic force of a ship, comprising:
a1, acquiring a hydrodynamic coefficient of the MMG model under the condition that the ship has a medium drift angle;
the middle drift angle is as follows: the drift angle of the ship is more than 20 degrees and less than 30 degrees;
wherein the MMG model is:
Figure BDA0002419966680000021
wherein the hydrodynamic coefficients of the MMG model comprise: a is1、a2、a3、b1、b2、b3、b4、 b5、b6、c1、c2、c3、c4、c5、c6；XHIs hydrodynamic, YHFor surge water power, NHIs the heading hydrodynamic moment; u is the surging velocity, v is the swaying velocity, r is the heading angular velocity;
a2, according to the hydrodynamic coefficient of the MMG model when the ship is at the intermediate drift angle, and the preset first surging speed u of the ship at the intermediate drift angle1First swaying speed v1First yaw rate r1Acquiring the transverse oscillation hydrodynamic force, the longitudinal oscillation hydrodynamic force and the heading hydrodynamic moment borne by the ship under the condition of a middle drift angle;
and simulating the operation performance of the ship according to the transverse oscillation hydrodynamic force, the longitudinal oscillation hydrodynamic force and the heading hydrodynamic moment of the ship under the condition of the intermediate drift angle to obtain a simulation result.
Preferably, the step a2 includes:
according to the hydrodynamic coefficient of the ship under the condition of the intermediate drift angle and the preset first surging speed u of the ship at the intermediate drift angle1First swaying speed v1First yaw rate r1And acquiring the transverse oscillation hydrodynamic force, the longitudinal oscillation hydrodynamic force and the heading hydrodynamic moment of the ship under the condition of the intermediate drift angle by adopting the MMG model.
Preferably, step a1 is preceded by:
a0, acquiring a first swaying water power, a first surging water power and a first heading water dynamic moment corresponding to each first drift angle by adopting a preset noble island model according to a preset first surging speed, a first heading angular speed and a plurality of preset first drift angles;
wherein the first drift angle is: a drift angle of more than 0 DEG and 20 DEG or less;
the noble island model is as follows:
Figure BDA0002419966680000031
wherein X (u) is the ship direct sailing resistance, Xvvv2、Xvrvr、Xrrr2Viscous drag, Y, caused by ship motionvv、Yrr、Yvv|v|v、Yrr|r|r、YvvrYvr2、Yvrrvr2For surge water power, Nvv、Nrr、Nvv|v|v、 Nrr|r|r、Nvvrv2r、Nvrrvr2Is the heading hydrodynamic moment;
according to a preset first surging speed, a preset first heading angular speed and a plurality of preset second drift angles, a preset village model is adopted to obtain a second surging hydrodynamic force, a second surging hydrodynamic force and a second heading water dynamic moment corresponding to each second drift angle;
wherein the second drift angle is: a drift angle of 30 DEG or more and 180 DEG or less;
the village model is as follows:
Figure BDA0002419966680000032
wherein，CryAnd CrnIs a preset correction coefficient; cdIs the cross-flow resistance coefficient, XH(r＝0)、YH(r ═ 0) and NH(r is 0) is hydrodynamic force during the inclined navigation; wherein:
Figure BDA0002419966680000041
wherein, Xuu、Xuvv、Xuuuvv、Xvv、Yuuv、Yuuvvv、Yvvv、Nuv、Nuuv、Nuuvvv、NvvvThe water power coefficient in the village model under the second drift angle is shown;
correspondingly, the step a1 includes:
and acquiring the hydrodynamic coefficient of the MMG model under the condition that the ship is at the intermediate drift angle by adopting a fitting method according to the plurality of first swaying hydrodynamic forces, the first surging hydrodynamic forces, the first heading hydrodynamic moment, the second swaying hydrodynamic forces, the second surging hydrodynamic forces and the second heading hydrodynamic moment.
Preferably, the step a0 includes:
acquiring a swaying speed corresponding to a first surging speed according to the preset first surging speed and a preset first drift angle;
and acquiring a first swaying hydrodynamic force, a first swaying hydrodynamic force and a first heading hydrodynamic moment corresponding to the plurality of first drift angles by adopting the preset noble island model based on the preset first surging speed, the preset first heading angular speed and the preset swaying speed corresponding to the first surging speed.
Preferably, the obtaining a swaying speed corresponding to a first surging speed according to the first preset surging speed and a first preset drift angle specifically includes:
acquiring a swaying speed corresponding to the first swaying speed by adopting a formula (1);
wherein the formula (1) is: v. of1＝tanβ1·(-μ1) Wherein β1Is firstDrift angle u1A first surging speed; v. of1Is equal to the first pitch velocity at a first drift angle β1The corresponding swaying speed is lower.
Preferably, the step a0 includes:
acquiring a swaying speed corresponding to a first surging speed according to the preset first surging speed and a preset second drift angle;
and acquiring a second swaying water power, a second swaying water power and a second heading water dynamic moment corresponding to the second drift angle by adopting a village model based on the preset first surging speed, the preset first heading angular speed and the preset swaying speed corresponding to the first surging speed.
Preferably, the obtaining the swaying speed corresponding to the first surging speed according to a preset first surging speed and a preset second drift angle specifically includes: acquiring a swaying speed corresponding to the first swaying speed by adopting a formula (2);
wherein the formula (2) is: v. of2＝tanβ2·(-μ1) Wherein β2Is the second drift angle, u1A first surging speed; v. of2Is at a second drift angle β with the first surging speed2The corresponding swaying speed is lower.
Preferably, the step a1 includes:
a1-1, fitting the plurality of first swaying water powers, first surging water powers, first heading water dynamic moments, second swaying water powers, second surging water powers and second heading water dynamic moments into three groups of functions by utilizing regression functions in an MATLAB environment;
wherein the three sets of functions include:
the first set of functions: and the swaying water power X in the MMG modelHA corresponding binary cubic term function;
a second set of functions: and the surging water power Y in the MMG modelHA corresponding binary cubic term function;
the third set of functions: and the yawing hydrodynamic moment N in the MMG modelHA corresponding binary cubic term function;
a1-2, respectively determining coefficients in the three groups of functions by using a least square method;
a1-3, determining the hydrodynamic coefficient in the MMG model under the condition that the ship is at the medium drift angle based on the coefficients in the three groups of functions.
(III) advantageous effects
The invention has the beneficial effects that: according to the method, a hydrodynamic model with a drift angle of 20-30 degrees is obtained by using a fitting method, and the defect that hydrodynamic coefficients cannot be obtained through an empirical formula in the drift angle range is overcome.
Drawings
FIG. 1 is a flow chart of a method for determining hydrodynamic force of a vessel according to the present invention;
fig. 2 is a schematic diagram of a coordinate system according to a first embodiment of the invention.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
To better explain the technical solution of the present invention, in this embodiment, a fixed coordinate system fixed in space and a moving coordinate system fixed on a ship are first established, as shown in fig. 2. Wherein o is0-x0y0z0The coordinate system represents a static coordinate system of space, x0-y0The plane representing the surface of the water at rest, z0The axis is perpendicular to the stationary water surface and is positive downwards. The o-xyz coordinate system represents a moving coordinate system fixed on a ship, the origin is positioned at the center of gravity of the ship, the direction of the x axis pointing to the bow of the ship is positive, the direction of the y axis pointing to the starboard is positive, and the direction of the z axis perpendicular to the horizontal plane is positive downwards. The center of gravity of the ship has a coordinate (x) in an o-xyz coordinate systemG0,0), ψ represents a heading angle, which is x-axis and x0The included angle of the axes, U being the speed of flight, delta being the rudder angle, r angular velocity, U longitudinal velocity, vmTransverse velocity, in two coordinate systems, the conversion relation of velocity is v ═ vm+xGAnd r. Resultant velocity of
Figure BDA0002419966680000071
The drift angle of midship can be expressed as β ═ dtan-1(-vm/u)。
Referring to fig. 1, the method for determining the hydrodynamic force of the ship in the embodiment includes:
a1, acquiring a hydrodynamic coefficient of the MMG model under the condition that the ship has a medium drift angle;
the middle drift angle is as follows: the drift angle of the ship is more than 20 degrees and less than 30 degrees;
wherein the MMG model is:
Figure BDA0002419966680000072
wherein the hydrodynamic coefficients of the MMG model comprise: a is1、a2、a3、b1、b2、b3、b4、 b5、b6、c1、c2、c3、c4、c5、c6；XHIs hydrodynamic, YHFor surge water power, NHIs the heading hydrodynamic moment; u is the surge velocity, v is the sway velocity, and r is the yaw velocity.
In this embodiment, before the step a1, the method further includes:
a0, acquiring a first swaying water power, a first surging water power and a first heading water dynamic moment corresponding to each first drift angle by adopting a preset noble island model according to a preset first surging speed, a first heading angular speed and a plurality of preset first drift angles; wherein the first drift angle is: a drift angle of more than 0 DEG and not more than 20 deg.
In this embodiment, a swaying speed corresponding to a first surging speed is obtained according to the first surging speed and a first drift angle; and acquiring a first swaying hydrodynamic force, a first swaying hydrodynamic force and a first heading hydrodynamic moment corresponding to the plurality of first drift angles by adopting the preset noble island model based on the preset first surging speed, the preset first heading angular speed and the preset swaying speed corresponding to the first surging speed.
In this embodiment, the obtaining the swaying speed corresponding to the first surging speed according to the preset first surging speed and the preset first drift angle specifically includes:
acquiring a swaying speed corresponding to the first swaying speed by adopting a formula (1);
wherein the formula (1) is: v. of1＝tanβ1·(-μ1) Wherein β1Is a first drift angle u1A first surging speed; v. of1Is equal to the first pitch velocity at a first drift angle β1The corresponding swaying speed is lower.
The noble island model is as follows:
Figure BDA0002419966680000081
wherein X (u) is the ship direct sailing resistance, Xvvv2、Xvrvr、Xrrr2Viscous drag, Y, caused by ship motionvv、Yrr、Yvv|v|v、Yrr|r|r、YvvrYvr2、Yvrrvr2For surge water power, Nvv、Nrr、Nvv|v|v、 Nrr|r|r、Nvvrv2r、Nvrrvr2Is the heading hydrodynamic moment.
And according to a preset first surging speed, a preset first heading angular speed and a plurality of preset second drift angles, acquiring a second surging hydrodynamic force, a second surging hydrodynamic force and a second heading hydrodynamic moment corresponding to each second drift angle by adopting a preset village model. And acquiring a swaying speed corresponding to the first surging speed according to a preset first surging speed and a preset second drift angle.
In this embodiment, a second swaying water power and a second heading water kinetic moment corresponding to the second drift angle are obtained by using a village model based on the preset first surging speed, the preset first heading angular speed and the preset swaying speed corresponding to the first surging speed.
The acquiring the swaying speed corresponding to the first surging speed according to the preset first surging speed and the preset second drift angle specifically comprises: and (3) acquiring a swaying speed corresponding to the first surging speed by adopting a formula (2).
Wherein the formula (2) is: v. of2＝tanβ2·(-μ1) Wherein β2Is the second drift angle, u1A first surging speed; v. of2Is at a second drift angle β with the first surging speed2The corresponding swaying speed is lower.
Wherein the second drift angle is: a drift angle of 30 DEG or more and 180 DEG or less.
The village model is as follows:
Figure BDA0002419966680000091
wherein, CryAnd CrnIs a preset correction coefficient; cdIs the cross-flow resistance coefficient, XH(r＝0)、 YH(r ═ 0) and NH(r is 0) is hydrodynamic force during the inclined navigation; wherein:
Figure BDA0002419966680000092
wherein, Xuu、Xuvv、Xuuuvv、Xvv、Yuuv、Yuuvvv、Yvvv、Nuv、Nuuv、Nuuvvv、NvvvThe water power coefficient in the village model under the second drift angle is shown;
correspondingly, the step a1 includes:
and acquiring the hydrodynamic coefficient of the MMG model under the condition that the ship is at the intermediate drift angle by adopting a fitting method according to the plurality of first swaying hydrodynamic forces, the first surging hydrodynamic forces, the first heading hydrodynamic moment, the second swaying hydrodynamic forces, the second surging hydrodynamic forces and the second heading hydrodynamic moment.
In a specific application of this embodiment, step a1 includes:
a1-1, fitting the plurality of first swaying water powers, first surging water powers, first heading water dynamic moments, second swaying water powers, second surging water powers and second heading water dynamic moments into three groups of functions by utilizing regress functions in an MATLAB environment.
Wherein the three sets of functions include:
the first set of functions: and the swaying water power X in the MMG modelHA corresponding binary cubic term function;
a second set of functions: and the surging water power Y in the MMG modelHA corresponding binary cubic term function;
the third set of functions: and the yawing hydrodynamic moment N in the MMG modelHCorresponding binary cubic term functions.
For example, at a small drift angle (| β | ≦ 20 °), a plurality of first yaw hydrodynamic forces, first pitch hydrodynamic forces, and first heading hydrodynamic moments obtained according to the precious island model are fitted under a large drift angle (30 ≦ β | ≦ 180 °) according to the second yaw hydrodynamic forces, second pitch hydrodynamic forces, and second heading moments obtained according to the village model, so as to obtain a fitting formula of a medium drift angle (20 ≦ β | ≦ 30 °).
The fitting method specifically comprises the steps of keeping the surge angular velocity u constant, taking u as 3m/s, respectively taking 8 groups of first oscillation water power, first surge water power and first oscillation water kinetic moment which are obtained according to a noble island model under the conditions that the drift angle is 0 degrees, 2.5 degrees, 5 degrees, 7.5 degrees, 10 degrees, 12.5 degrees, 15 degrees and 17.5 degrees in a small drift angle range and a large drift angle range, respectively, and obtaining 13 groups of data including the oscillation water power, the surge power and the heading water kinetic moment (which can be more than two) of 5 groups of second oscillation water power, second surge water power and second heading water kinetic moment according to a village model under the conditions that the drift angular velocity u is constant, wherein each drift angle corresponds to different headings and navigational speeds respectively, and under the condition that the surge angular velocity u is constant, the surge angular velocity v is in a functional relation with the magnitude of the drift angle β, and the functional relation is shown as v and the surge angular velocity is decomposed into a component on the basis of (- β).
Each group of data has a determined u and v, and for each group of data, 39 groups of data with different heading angular velocities of 1 degree, 2 degrees and 3 degrees are respectively taken for fitting.
A1-2, using the least squares method, coefficients in the three sets of functions are determined, respectively.
In this embodiment, the 39 sets of data are utilized, v and r are taken as independent variables, the swaying water power, the surging water power and the heading water power moment are taken as three independent dependent variables, a regress function is utilized in an MATLAB environment to be fitted into three sets of binary cubic functions, and a least square method is used to determine coefficients of a polynomial.
A1-3, determining the hydrodynamic coefficient in the MMG model under the condition that the ship is at the medium drift angle based on the coefficients in the three groups of functions.
A2, according to the hydrodynamic coefficient of the MMG model when the ship is at the intermediate drift angle, and the preset first surging speed u of the ship at the intermediate drift angle1First swaying speed v1First yaw rate r1And acquiring the transverse oscillation hydrodynamic force, the longitudinal oscillation hydrodynamic force and the heading hydrodynamic moment borne by the ship under the condition of the intermediate drift angle.
In the embodiment, the first surging speed u of the ship at the intermediate drift angle is preset according to the hydrodynamic coefficient of the ship at the intermediate drift angle1First swaying speed v1First yaw rate r1And acquiring the transverse oscillation hydrodynamic force, the longitudinal oscillation hydrodynamic force and the heading hydrodynamic moment of the ship under the condition of the intermediate drift angle by adopting the MMG model.
In this embodiment, the method further includes simulating the operation performance of the ship under the condition of the intermediate drift angle according to the yawing water power, the pitching water power and the heading water moment which are applied to the ship under the condition of the intermediate drift angle, and obtaining a simulation result.
In this embodiment, a simulation model is built for the MMG model using a simulink module in MATLAB.
The technical principles of the present invention have been described above in connection with specific embodiments, which are intended to explain the principles of the present invention and should not be construed as limiting the scope of the present invention in any way. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive efforts, which shall fall within the scope of the present invention.

Claims (8)

1. A method of determining a hydrodynamic force of a marine vessel, comprising:
a1, acquiring a hydrodynamic coefficient of the MMG model under the condition that the ship has a medium drift angle;
the middle drift angle is as follows: the drift angle of the ship is more than 20 degrees and less than 30 degrees;
wherein the MMG model is:
Figure FDA0002419966670000011
wherein the hydrodynamic coefficients of the MMG model comprise: a is1、a2、a3、b1、b2、b3、b4、b5、b6、c1、c2、c3、c4、c5、c6；XHIs hydrodynamic, YHFor surge water power, NHIs the heading hydrodynamic moment; u is the surging velocity, v is the swaying velocity, r is the heading angular velocity;
a2, according to the hydrodynamic coefficient of the MMG model when the ship is at the intermediate drift angle, and the preset first surging speed u of the ship at the intermediate drift angle1First swaying speed v1First yaw rate r1And acquiring the transverse oscillation hydrodynamic force, the longitudinal oscillation hydrodynamic force and the heading hydrodynamic moment borne by the ship under the condition of the intermediate drift angle.
2. The method according to claim 1, wherein said step a2 comprises:
according to the hydrodynamic coefficient of the ship under the condition of the intermediate drift angle and the preset first surging speed u of the ship at the intermediate drift angle1First swaying speed v1First yaw rate r1The MMG model is adopted to obtain the transverse hydrodynamic force borne by the ship under the condition of intermediate drift angle,Surge hydrodynamic force and heading hydrodynamic moment.
3. The method of claim 1, wherein step a1 is preceded by:
a0, acquiring a first swaying water power, a first surging water power and a first heading water dynamic moment corresponding to each first drift angle by adopting a preset noble island model according to a preset first surging speed, a first heading angular speed and a plurality of preset first drift angles;
wherein the first drift angle is: a drift angle of more than 0 DEG and 20 DEG or less;
the noble island model is as follows:
Figure FDA0002419966670000021
wherein X (u) is the ship direct sailing resistance, Xvvv2、Xvrvr、Xrrr2Viscous drag, Y, caused by ship motionvv、Yrr、Yvv|v|v、Yrr|r|r、YvvrYvr2、Yvrrvr2For surge water power, Nvv、Nrr、Nvv|v|v、Nrr|r|r、Nvvrv2r、Nvrrvr2Is the heading hydrodynamic moment;
according to a preset first surging speed, a preset first heading angular speed and a plurality of preset second drift angles, a preset village model is adopted to obtain a second surging hydrodynamic force, a second surging hydrodynamic force and a second heading water dynamic moment corresponding to each second drift angle;
wherein the second drift angle is: a drift angle of 30 DEG or more and 180 DEG or less;
the village model is as follows:
Figure FDA0002419966670000022
wherein, CryAnd CrnIs a preset correction coefficient; cdIs the cross-flow resistance coefficient, XH(r＝0)、YH(r ═ 0) and NH(r is 0) is hydrodynamic force during the inclined navigation; wherein:
Figure FDA0002419966670000023
wherein, Xuu、Xuvv、Xuuuvv、Xvv、Yuuv、Yuuvvv、Yvvv、Nuv、Nuuv、Nuuvvv、NvvvThe water power coefficient in the village model under the second drift angle is shown;
correspondingly, the step a1 includes:
and acquiring the hydrodynamic coefficient of the MMG model under the condition that the ship is at the intermediate drift angle by adopting a fitting method according to the plurality of first swaying hydrodynamic forces, the first surging hydrodynamic forces, the first heading hydrodynamic moment, the second swaying hydrodynamic forces, the second surging hydrodynamic forces and the second heading hydrodynamic moment.
4. The method according to claim 3, wherein said step A0 comprises:
acquiring a swaying speed corresponding to a first surging speed according to the preset first surging speed and a preset first drift angle;
and acquiring a first swaying hydrodynamic force, a first swaying hydrodynamic force and a first heading hydrodynamic moment corresponding to the plurality of first drift angles by adopting the preset noble island model based on the preset first surging speed, the preset first heading angular speed and the preset swaying speed corresponding to the first surging speed.
5. The method according to claim 4, wherein the obtaining the swaying speed corresponding to the first surging speed according to the first preset surging speed and the first preset drift angle specifically comprises:
acquiring a swaying speed corresponding to the first swaying speed by adopting a formula (1);
wherein the formula (1) is: v. of1＝tanβ1·(-μ1) Wherein β1Is a first drift angle u1A first surging speed; v. of1Is equal to the first pitch velocity at a first drift angle β1The corresponding swaying speed is lower.
6. The method according to claim 3, wherein said step A0 comprises:
acquiring a swaying speed corresponding to a first surging speed according to the preset first surging speed and a preset second drift angle;
and acquiring a second swaying water power, a second swaying water power and a second heading water dynamic moment corresponding to the second drift angle by adopting a village model based on the preset first surging speed, the preset first heading angular speed and the preset swaying speed corresponding to the first surging speed.
7. The method according to claim 6, wherein the obtaining the swaying speed corresponding to the first surging speed according to the preset first surging speed and the preset second drift angle specifically comprises: acquiring a swaying speed corresponding to the first swaying speed by adopting a formula (2);
wherein the formula (2) is: v. of2＝tanβ2·(-μ1) Wherein β2Is the second drift angle, u1A first surging speed; v. of2Is at a second drift angle β with the first surging speed2The corresponding swaying speed is lower.
8. The method according to claim 5 or 7, wherein said step A1 comprises:
a1-1, fitting the plurality of first swaying water powers, first surging water powers, first heading water dynamic moments, second swaying water powers, second surging water powers and second heading water dynamic moments into three groups of functions by utilizing regression functions in an MATLAB environment;
wherein the three sets of functions include:
the first set of functions: and the swaying water power X in the MMG modelHA corresponding binary cubic term function;
a second set of functions: and the surging water power Y in the MMG modelHA corresponding binary cubic term function;
the third set of functions: and the yawing hydrodynamic moment N in the MMG modelHA corresponding binary cubic term function;
a1-2, respectively determining coefficients in the three groups of functions by using a least square method;
a1-3, determining the hydrodynamic coefficient in the MMG model under the condition that the ship is at the medium drift angle based on the coefficients in the three groups of functions.
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