CN111291453B - Hydrodynamic force determination method for ship - Google Patents
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Abstract
The invention relates to a hydrodynamic force determining method of a ship, which comprises the steps of obtaining a hydrodynamic force coefficient of an MMG model under the condition that the ship is at a drift angle; the intermediate 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 mid-drift angle and the preset first heave speed u of the ship under the mid-drift angle 1 First sway speed v 1 First yaw rate r 1 The invention utilizes a fitting method to obtain a hydrodynamic model when the drift angle is 20-30 degrees, and overcomes the defect that the hydrodynamic coefficient cannot be obtained through an empirical formula in the drift angle range.
Description
Technical Field
The invention relates to the field of simulation prediction, in particular to a ship hydrodynamic force determining method.
Background
With the development of shipping industry, new ships and intelligent ships are attracting attention, and whether the maneuvering performance of the ships meets the safety requirement has been a very important issue. The prediction of the maneuvering performance is a very important task, and the methods for predicting the maneuvering performance of the ship mainly comprise 4 kinds of methods: an empirical formula method, a constraint test method, a ship maneuvering mathematical model, a computer simulation method and a CFD-based numerical simulation method. The constraint test method relies on a physical pool, and has the advantages of high test cost, long period and scale effect. Numerical simulation based on CFD has high requirements on computer performance, each hydrodynamic derivative in the motion mathematical model is determined by using an empirical formula, and the simulation cost of the method for simulating the ship motion mathematical model by using a computer is relatively low, so that the method is easy to operate and is the most widely applied and effective method at present.
Common mathematical models of hydrodynamic force of ship maneuvering include an integral model and a split model, and the split model is represented by japanese MMG (ship maneuvering mathematical model group) model. The MMG model divides hydrodynamic load acting on the hull into hydrodynamic forces acting on the bare hull, the propeller and the rudder, and finally obtains a ship motion mathematical model by considering the interaction between the ship, the propeller and the rudder. The mathematical model needs to determine a plurality of ship parameters and can be obtained through a ship model test or an empirical formula, compared with the ship model test, the empirical formula is simpler and more convenient, but the empirical formula can not cover all working conditions, and the situation that no empirical formula can be referred to in the drift angle range of 20-30 degrees exists, so that the hydrodynamic coefficient of the ship motion mathematical model MMG in the drift angle range of 20-30 degrees can not be determined, and the defect that comprehensive and systematic forecast simulation on ship operability is difficult is overcome.
Disclosure of Invention
First, the technical problem to be solved
In order to solve the problems of the prior art, the invention provides a ship hydrodynamic force determining method.
(II) technical scheme
In order to achieve the above object, the present invention provides a hydrodynamic force determining method of a ship, comprising:
a1, acquiring a hydrodynamic coefficient of the MMG model under the condition that the ship is at a middle drift angle;
the intermediate 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:
wherein the hydrodynamic coefficients of the MMG model comprise: a, a 1 、a 2 、a 3 、b 1 、b 2 、b 3 、b 4 、b 5 、b 6 、c 1 、c 2 、c 3 、c 4 、c 5 、c 6 ；X H Is transverse water power, Y H For the water power of the heave, N H Is a bow-shaking water dynamic moment; u is the heave velocity, v is the heave velocity, r is the yaw angular velocity;
a2, according to the hydrodynamic coefficient of the MMG model under the condition that the ship is at the mid-drift angle and the preset first heave speed u of the ship under the mid-drift angle 1 First sway speed v 1 First yaw rate r 1 Acquiring transverse oscillation hydrodynamic force, longitudinal oscillation hydrodynamic force and bow swing hydrodynamic moment of a 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 bow oscillation hydrodynamic moment of the ship under the condition of the middle drift angle, and obtaining a simulation result.
Preferably, the step A2 includes:
according to the hydrodynamic coefficient of the ship under the condition of the middle drift angle and the preset first heave speed u of the ship under the condition of the middle drift angle 1 First sway speed v 1 First yaw rate r 1 And acquiring the transverse oscillation hydrodynamic force, the longitudinal oscillation hydrodynamic force and the bow swing hydrodynamic moment of the ship under the condition of the middle drift angle by adopting an MMG model.
Preferably, the step A1 further includes:
a0, acquiring first heave hydrodynamic force, first heave hydrodynamic force and first yaw hydrodynamic moment corresponding to each first drift angle by adopting a preset noble island model according to a preset first heave velocity, a preset first yaw angular velocity and a plurality of preset first drift angles;
wherein the first drift angle is: a drift angle of greater than 0 DEG and less than or equal to 20 DEG;
the noble island model is as follows:
wherein X (u) is ship direct resistance, X vv v 2 、X vr vr、X rr r 2 For viscous drag caused by vessel motion, Y v v、Y r r、Y vv |v|v、Y rr |r|r、Y vvr Yvr 2 、Y vrr vr 2 For the water power of the heave, N v v、N r r、N vv |v|v、N rr |r|r、N vvr v 2 r、N vrr vr 2 Is a bow-shaking water dynamic moment;
acquiring second sway hydrodynamic force, second sway hydrodynamic force and second sway hydrodynamic moment corresponding to each second drift angle by adopting a preset aromatic village model according to a preset first sway speed, a preset first yaw angular speed and a plurality of preset second drift angles;
wherein the second drift angle is: a drift angle of 30 DEG or more and 180 DEG or less;
the aromatic village model is as follows:
wherein C is ry And C rn Is a preset correction coefficient; c (C) d Is a cross flow resistance coefficient, X H (r＝0)、Y H (r=0) and N H (r=0) is hydrodynamic force at the time of the inclined voyage; wherein:
wherein X is uu 、X uvv 、X uuuvv 、X vv 、Y uuv 、Y uuvvv 、Y vvv 、N uv 、N uuv 、N uuvvv 、N vvv Is the hydrodynamic coefficient in the aromatic model at the second drift angle;
correspondingly, the step A1 includes:
and according to the plurality of first heave hydrodynamic forces, the first bow-swing hydrodynamic moment, the second heave hydrodynamic forces and the second bow-swing hydrodynamic moment, a fitting method is adopted to obtain the hydrodynamic coefficient of the MMG model under the condition that the ship is a middle drift angle.
Preferably, the step A0 includes:
acquiring a surging speed corresponding to a first surging speed according to the preset first surging speed and a preset first drift angle;
and acquiring first heave hydrodynamic force, first heave hydrodynamic force and first bow hydrodynamic moment corresponding to the first drift angles by adopting the preset noble island model based on the preset first heave velocity, the first bow angular velocity and the corresponding heave velocity.
Preferably, the step of obtaining the yaw rate corresponding to the first yaw rate according to the preset first yaw rate and the preset first drift angle specifically includes:
acquiring a surging speed corresponding to the first surging speed by adopting a formula (1);
wherein formula (1) is: v 1 ＝tanβ 1 ·(-μ 1 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein beta is 1 For the first drift angle u 1 Is a first heave velocity; v 1 At a first drift angle beta with a first heave velocity 1 And the corresponding sway speed.
Preferably, the step A0 includes:
acquiring a surging speed corresponding to the first surging speed according to a preset first surging speed and a preset second drift angle;
and acquiring second sway hydrodynamic force, second sway hydrodynamic force and second sway hydrodynamic moment corresponding to the second drift angle by adopting an aromatic village model based on the first sway speed, the first sway angular speed and the sway speed corresponding to the first sway speed which are preset.
Preferably, the step of obtaining the yaw rate corresponding to the first yaw rate according to the preset first yaw rate and the preset second drift angle specifically includes: acquiring a surging speed corresponding to the first surging speed by adopting a formula (2);
wherein formula (2) is: v 2 ＝tanβ 2 ·(-μ 1 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein beta is 2 For the second drift angle u 1 Is a first heave velocity; v 2 At a second drift angle beta with the first heave velocity 2 And the corresponding sway speed.
Preferably, the step A1 includes:
a1-1, fitting the plurality of first heave hydrodynamic forces, first bow heave hydrodynamic moment, second heave hydrodynamic forces and second bow heave hydrodynamic moment into three groups of functions in a MATLAB environment by utilizing a regress function;
wherein the three sets of functions include:
a first set of functions: and transverse hydrodynamic force X in MMG model H A corresponding binary cubic term function;
a second set of functions: and heave hydrodynamic Y in MMG model H A corresponding binary cubic term function;
a third set of functions: and the bow-swing hydrodynamic moment N in the MMG model H A corresponding binary cubic term function;
a1-2, respectively determining coefficients in three groups of functions by using a least square method;
a1-3, determining hydrodynamic coefficients in the MMG model under the condition that the ship is at a mid-drift angle based on coefficients in the three groups of functions.
(III) beneficial effects
The beneficial effects of the invention are as follows: the invention utilizes the fitting method to obtain the hydrodynamic model with the drift angle of 20-30 degrees, and overcomes the defect that the hydrodynamic coefficient cannot be obtained through an empirical formula within the drift angle range.
Drawings
FIG. 1 is a flow chart of a method for determining hydrodynamic force of a ship 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
The invention will be better explained by the following detailed description of the embodiments with reference to the drawings.
In order to better explain the technical solution of the present invention, in this embodiment, a fixed coordinate system fixed on a space and a movable coordinate system fixed on a ship are first established, as shown in fig. 2. Wherein o is 0 -x 0 y 0 z 0 The coordinate system represents the static coordinate system of the space, x 0 -y 0 Plane means the stationary water surface, z 0 The axis is vertical to the static water surface and downward is positive. The o-xyz coordinate system represents a dynamic coordinate system fixed on the ship, the origin is positioned at the center of gravity of the ship, the x-axis is directed to the bow direction and the y-axis is directed to the starboard, the z-axis is vertical to the horizontal plane and downward is positive. The center of gravity of the ship has a coordinate (x G 0, 0), ψ represents the heading angle, x-axis and x 0 The included angle of the axes, U is the navigational speed, delta is the rudder angle, r angular speed and U longitudinal speed, v m Transverse velocity, in two coordinate systems, the conversion relation of velocity is v=v m +x G r. The combining speed is as followsThe drift angle of the midship can be expressed as β=tan -1 (-v m /u)。
Referring to fig. 1, the method for determining the hydrodynamic force of the ship in this embodiment includes:
a1, acquiring a hydrodynamic coefficient of the MMG model under the condition that the ship is at a middle drift angle;
the intermediate 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:
wherein the hydrodynamic coefficients of the MMG model comprise: a, a 1 、a 2 、a 3 、b 1 、b 2 、b 3 、b 4 、b 5 、b 6 、c 1 、c 2 、c 3 、c 4 、c 5 、c 6 ；X H Is transverse water power, Y H For the water power of the heave, N H Is a bow-shaking water dynamic moment; u is the heave velocity, v is the heave velocity, and r is the yaw angular velocity.
In this embodiment, before the step A1, the method further includes:
a0, acquiring first heave hydrodynamic force, first heave hydrodynamic force and first yaw hydrodynamic moment corresponding to each first drift angle by adopting a preset noble island model according to a preset first heave velocity, a preset first yaw angular velocity and a plurality of preset first drift angles; wherein the first drift angle is: a drift angle of greater than 0 DEG and less than or equal to 20 deg.
In this embodiment, according to a preset first surging speed and a preset first drift angle, acquiring a surging speed corresponding to the first surging speed; and acquiring first heave hydrodynamic force, first heave hydrodynamic force and first bow hydrodynamic moment corresponding to the first drift angles by adopting the preset noble island model based on the preset first heave velocity, the first bow angular velocity and the corresponding heave velocity.
In this embodiment, the obtaining the yaw rate corresponding to the first yaw rate according to the preset first yaw rate and the preset first drift angle specifically includes:
acquiring a surging speed corresponding to the first surging speed by adopting a formula (1);
wherein formula (1) is: v 1 ＝tanβ 1 ·(-μ 1 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein beta is 1 For the first drift angle u 1 Is a first heave velocity; v 1 At a first drift angle beta with a first heave velocity 1 And the corresponding sway speed.
The noble island model is as follows:
wherein X (u) is ship direct resistance, X vv v 2 、X vr vr、X rr r 2 For viscous drag caused by vessel motion, Y v v、Y r r、Yvv|v|v、Yrr|r|r、Y vvr Yvr 2 、Y vrr vr 2 For the water power of the heave, N v v、N r r、N vv |v|v、N rr |r|r、N vvr v 2 r、N vrr vr 2 Is the bow-shaking water power moment.
And acquiring second sway hydrodynamic force, second sway hydrodynamic force and second sway hydrodynamic moment corresponding to each second drift angle by adopting a preset aromatic village model according to the preset first sway speed, the preset first yaw angular speed and a plurality of preset second drift angles. And acquiring the surging speed corresponding to the first surging speed according to the preset first surging speed and the preset second drift angle.
In this embodiment, the second heave hydrodynamic force and the second yaw hydrodynamic moment corresponding to the second drift angle are obtained by using an aromatic village model based on the first heave velocity, the first yaw angular velocity and the corresponding heave velocity according to the predetermined settings.
The step of obtaining the heave velocity corresponding to the first heave velocity according to the preset first heave velocity and the preset second drift angle specifically includes: and (3) acquiring a surging speed corresponding to the first surging speed by adopting a formula (2).
Wherein formula (2) is: v 2 ＝tanβ 2 ·(-μ 1 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein beta is 2 For the second drift angle u 1 Is a first heave velocity; v 2 At a second drift angle beta with the first heave velocity 2 And the corresponding sway speed.
Wherein the second drift angle is: a drift angle of 30 DEG or more and 180 DEG or less.
The aromatic village model is as follows:
wherein C is ry And C rn Is a preset correction coefficient; c (C) d Is a cross flow resistance coefficient, X H (r＝0)、Y H (r=0) and N H (r=0) is hydrodynamic force at the time of the inclined voyage; wherein:
wherein X is uu 、X uvv 、X uuuvv 、X vv 、Y uuv 、Y uuvvv 、Y vvv 、N uv 、N uuv 、N uuvvv 、N vvv Is the hydrodynamic coefficient in the aromatic model at the second drift angle;
correspondingly, the step A1 includes:
and according to the plurality of first heave hydrodynamic forces, the first bow-swing hydrodynamic moment, the second heave hydrodynamic forces and the second bow-swing hydrodynamic moment, a fitting method is adopted to obtain the hydrodynamic coefficient of the MMG model under the condition that the ship is a middle drift angle.
In a specific application of this embodiment, step A1 includes:
a1-1, fitting the plurality of first heave hydrodynamic forces, first bow heave hydrodynamic moment, second heave hydrodynamic force and second bow heave hydrodynamic moment into three groups of functions in a MATLAB environment by utilizing a regress function.
Wherein the three sets of functions include:
a first set of functions: and transverse hydrodynamic force X in MMG model H A corresponding binary cubic term function;
a second set of functions: and heave hydrodynamic Y in MMG model H A corresponding binary cubic term function;
a third set of functions: and the bow-swing hydrodynamic moment N in the MMG model H A corresponding binary cubic term function.
For example, at a small drift angle (|β|20 °) the plurality of first heave hydrodynamic forces, first bow heave hydrodynamic moment obtained according to the noble island model and at a large drift angle (30 ° |β|180 °), fitting is performed according to the second heave hydrodynamic forces, second heave hydrodynamic forces and second bow heave hydrodynamic moment obtained according to the aromatic village model, and a fitting formula for a medium drift angle (20 ° |β|30 °) is obtained.
The fitting mode is as follows: keeping the pitching angular velocity u unchanged, taking u=3m/s, and respectively taking 8 groups of first pitching hydrodynamic forces, first pitching hydrodynamic forces and first pitching hydrodynamic moments which are obtained according to a noble island model under the conditions that the pitching angles are 0 degree, 2.5 degrees, 5 degrees, 7.5 degrees, 10 degrees, 12.5 degrees, 15 degrees and 17.5 degrees in a small-pitching angle range and a large-pitching angle range, wherein under the conditions that the pitching angles are 32.5 degrees, 35 degrees, 37.5 degrees, 40 degrees and 42.5 degrees, 5 groups of second pitching hydrodynamic forces, second pitching hydrodynamic forces and total 13 groups of data of second pitching hydrodynamic moments are obtained according to an aromatic village model, wherein the total 13 groups of data comprise the pitching hydrodynamic forces, the pitching hydrodynamic forces and the pitching hydrodynamic moments (which can be taken more), each pitching angle corresponds to different heading and navigational speeds, and under the condition that the pitching velocity u is unchanged, the size of the pitching velocity v and the pitching angle beta are in a function relation, and the function relation is as follows: v=tan β (-u). Then, according to the heave velocity and drift angle, it is converted and decomposed into components in the u, v directions.
Each set of data has a certain u and v, and for each set of data, different bow angular velocities of 1 degree, 2 degrees and 3 degrees are respectively taken, and 39 sets of data are used for fitting.
A1-2, respectively determining coefficients in three groups of functions by using a least square method.
In this embodiment, v and r are regarded as independent variables, and the yaw hydrodynamic force, the pitch hydrodynamic force and the yaw hydrodynamic moment are regarded as three independent dependent variables, and the regression function is used to fit the independent dependent variables to three binary cubic term functions in a MATLAB environment, and the least square method is used to determine the coefficients of the polynomial.
A1-3, determining hydrodynamic coefficients in the MMG model under the condition that the ship is at a mid-drift angle based on coefficients in the three groups of functions.
A2, according to the condition that the ship is at a middle drift angleHydrodynamic coefficient of lower MMG model, first surging speed u of preset ship at mid-drift angle 1 First sway speed v 1 First yaw rate r 1 And acquiring the transverse oscillation hydrodynamic force, the longitudinal oscillation hydrodynamic force and the bow swing hydrodynamic moment of the ship under the condition of the middle drift angle.
In this embodiment, the first heave velocity u of the ship at the mid-drift angle is preset according to the hydrodynamic coefficient of the ship at the mid-drift angle 1 First sway speed v 1 First yaw rate r 1 And acquiring the transverse oscillation hydrodynamic force, the longitudinal oscillation hydrodynamic force and the bow swing hydrodynamic moment of the ship under the condition of the middle drift angle by adopting an MMG model.
In this embodiment, the method further includes simulating the operation performance of the ship under the condition of the mid-drift angle according to the heave hydrodynamic force, the heave hydrodynamic force and the bow yaw hydrodynamic moment of the ship under the condition of the mid-drift angle, and obtaining a simulation result.
In this embodiment, a simulation model is built by using a simulink module in MATLAB.
The technical principles of the present invention have been described above in connection with specific embodiments, which are provided for the purpose of explaining the principles of the present invention and are not to be construed as limiting the scope of the present invention in any way. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.
Claims (6)
1. A method of determining hydrodynamic forces of a vessel, comprising:
a1, acquiring a hydrodynamic coefficient of the MMG model under the condition that the ship is at a middle drift angle;
the intermediate 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:
wherein the hydrodynamic coefficients of the MMG model comprise: a, a 1 、a 2 、a 3 、b 1 、b 2 、b 3 、b 4 、b 5 、b 6 、c 1 、c 2 、c 3 、c 4 、c 5 、c 6 ；X H Is transverse water power, Y H For the water power of the heave, N H Is a bow-shaking water dynamic moment; u is the heave velocity, v is the heave velocity, r is the yaw angular velocity;
a2, according to the hydrodynamic coefficient of the MMG model under the condition that the ship is at the mid-drift angle and the preset first heave speed u of the ship under the mid-drift angle 1 First sway speed v 1 First yaw rate r 1 Acquiring transverse oscillation hydrodynamic force, longitudinal oscillation hydrodynamic force and bow swing hydrodynamic moment of a ship under the condition of a middle drift angle;
the step A2 comprises the following steps:
according to the hydrodynamic coefficient of the ship under the condition of the middle drift angle and the preset first heave speed u of the ship under the condition of the middle drift angle 1 First sway speed v 1 First yaw rate r 1 Acquiring transverse oscillation hydrodynamic force, longitudinal oscillation hydrodynamic force and bow swing hydrodynamic moment of a ship under the condition of a middle drift angle by adopting an MMG model;
the step A1 further comprises the following steps:
a0, acquiring first heave hydrodynamic force, first heave hydrodynamic force and first yaw hydrodynamic moment corresponding to each first drift angle by adopting a preset noble island model according to a preset first heave velocity, a preset first yaw angular velocity and a plurality of preset first drift angles;
wherein the first drift angle is: a drift angle of greater than 0 DEG and less than or equal to 20 DEG;
the noble island model is as follows:
wherein X (u) is ship direct resistance, X vv v 2 、X vr vr、X rr r 2 For viscous drag caused by vessel motion, Y v v、Y r r、Y vv |v|v、Y rr |r|r、Y vvr Yvr 2 、Y vrr vr 2 For the water power of the heave, N v v、N r r、N vv |v|v、N rr |r|r、N vvr v 2 r、N vrr vr 2 Is a bow-shaking water dynamic moment;
acquiring second sway hydrodynamic force, second sway hydrodynamic force and second sway hydrodynamic moment corresponding to each second drift angle by adopting a preset aromatic village model according to a preset first sway speed, a preset first yaw angular speed and a plurality of preset second drift angles;
wherein the second drift angle is: a drift angle of 30 DEG or more and 180 DEG or less;
the aromatic village model is as follows:
wherein C is ry And C rn Is a preset correction coefficient; c (C) d Is a cross flow resistance coefficient, X H (r＝0)、Y H (r=0) and N H (r=0) is hydrodynamic force at the time of the inclined voyage; wherein:
wherein X is uu 、X uvv 、X uuuvv 、X vv 、Y uuv 、Y uuvvv 、Y vvv 、N uv 、N uuv 、N uuvvv 、N vvv Is the hydrodynamic coefficient in the aromatic model at the second drift angle;
correspondingly, the step A1 includes:
and obtaining the hydrodynamic coefficients of the MMG model under the condition that the ship is at the middle drift angle by adopting a fitting method according to the plurality of first heave hydrodynamic forces, the first bow-swing hydrodynamic moment, the second heave hydrodynamic forces and the second bow-swing hydrodynamic moment.
2. The method according to claim 1, wherein the step A0 comprises:
acquiring a surging speed corresponding to a first surging speed according to the preset first surging speed and a preset first drift angle;
and acquiring first heave hydrodynamic force, first heave hydrodynamic force and first bow hydrodynamic moment corresponding to the first drift angles by adopting the preset noble island model based on the preset first heave velocity, the first bow angular velocity and the corresponding heave velocity.
3. The method according to claim 2, wherein the obtaining a heave velocity corresponding to the first heave velocity according to a preset first heave velocity and a preset first drift angle specifically comprises:
acquiring a surging speed corresponding to the first surging speed by adopting a formula (1);
wherein formula (1) is: v 1 ＝tanβ 1 ·(-μ 1 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein beta is 1 For the first drift angle u 1 Is a first heave velocity; v 1 At a first drift angle beta with a first heave velocity 1 And the corresponding sway speed.
4. The method according to claim 1, wherein the step A0 comprises:
acquiring a surging speed corresponding to the first surging speed according to a preset first surging speed and a preset second drift angle;
and acquiring second sway hydrodynamic force, second sway hydrodynamic force and second sway hydrodynamic moment corresponding to the second drift angle by adopting an aromatic village model based on the first sway speed, the first sway angular speed and the sway speed corresponding to the first sway speed which are preset.
5. The method according to claim 4, wherein the obtaining the heave velocity corresponding to the first heave velocity according to the first heave velocity and the second drift angle, specifically comprises: acquiring a surging speed corresponding to the first surging speed by adopting a formula (2);
wherein formula (2) is: v 2 ＝tanβ 2 ·(-μ 1 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein beta is 2 For the second drift angle u 1 Is a first heave velocity; v 2 At a second drift angle beta with the first heave velocity 2 And the corresponding sway speed.
6. The method according to claim 3 or 4, wherein the step A1 comprises:
a1-1, fitting the plurality of first heave hydrodynamic forces, first bow heave hydrodynamic moment, second heave hydrodynamic forces and second bow heave hydrodynamic moment into three groups of functions in a MATLAB environment by utilizing a regress function;
wherein the three sets of functions include:
a first set of functions: and transverse hydrodynamic force X in MMG model H A corresponding binary cubic term function;
a second set of functions: and heave hydrodynamic Y in MMG model H A corresponding binary cubic term function;
a third set of functions: and the bow water dynamic moment N in the MMG model H A corresponding binary cubic term function;
a1-2, respectively determining coefficients in three groups of functions by using a least square method;
a1-3, determining hydrodynamic coefficients in the MMG model under the condition that the ship is at a mid-drift angle based on coefficients in the three groups of functions.
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