CN113934159A - Unmanned ship reliability test environment model construction method - Google Patents
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Abstract
The embodiment of the invention provides a method for constructing an unmanned ship reliability test environment model, which comprises the following steps: establishing a model of the unmanned ship; analyzing the influence of the environmental factors on the unmanned ship, and analyzing the sensitive environmental factors; constructing a virtual test environment platform of the unmanned ship to simulate the unmanned ship and relevant operating marine environments based on the model of the unmanned ship and the analysis result of the sensitive environment factors; and constructing an unmanned ship reliability test environment model. The advantages of virtual testing and real ship testing are integrated, the designed testing system can carry out layered testing on unmanned surface vessels with different autonomous sailing capacities, and ideas based on scene testing and task testing are adopted in each layer of testing, so that the diversity, the rapidity and the safety of the testing are guaranteed, the scientificity of the testing result is guaranteed, the whole testing process is guaranteed safely, and the testing result is more authentic.
Description
Technical Field
The invention relates to the technical field of unmanned ship reliability testing, in particular to a method for constructing an unmanned ship reliability testing environment model.
Background
Since the 21 st century, the global marine economy has rapidly developed, the marine science and technology has been increasingly driven, and the marine development equipment has shown a high-quality development trend. With the deep application of new information technologies such as cloud computing, big data, artificial intelligence and the like in various fields, the smart ocean becomes another corner of the strong ocean strategy, namely a high place. The intelligent equipment of the marine unmanned system represented by intelligent ships, Unmanned Surface Vehicles (USVs), Unmanned Underwater Vehicles (UUV) and the like plays an important role in the aspects of carrying out military tasks such as anti-diving, anti-mines, remote unmanned autonomous mine deployment, monitoring, tracking and the like, and carrying out deep sea operations such as marine resource exploration, unmanned island reef duty and monitoring, underwater operation and the like. Therefore, the current situation of the marine unmanned system intelligent equipment industry needs to be combed, so that important basis and direction are provided for policy planning, financial capital investment and enterprise technology research and development.
However, since the unmanned ship is usually designed precisely, a large number of sensors and precise elements are arranged inside the unmanned ship, the cost is high, and a complete and closed test environment is usually required to be built to simulate various possible situations encountered by the unmanned equipment in the working process. Therefore, the unmanned ship test environment design becomes an important ring from the research and development to the landing of unmanned equipment.
An unmanned surface vessel relates to an intelligent device for multiple disciplines such as vessel design, control, hydrodynamics and the like. The research of the unmanned surface vessel not only has theoretical significance, but also has extremely strong engineering value. In the development process of the unmanned surface vessel, the unmanned surface vessel is particularly important to be tested, and the last checkpoint is used for determining whether the unmanned surface vessel can be effectively applied. At present, an unmanned ship test system mainly comprises a pure physical simulation system and a pure digital simulation system, the pure physical simulation system and the pure digital simulation system have respective advantages, the pure physical simulation is closer to reality, acquired data are more real, however, the influence of factors such as environment is larger, and experiments cannot be carried out at any time. Pure digital simulation has the advantage of flexibility, but the detail information cannot be fully considered in the simulation process, and the reliability of the obtained result is low. Therefore, how to test unmanned ships effectively and cheaply is a hot spot and a big problem of current research.
The test system of the unmanned ship can be mainly divided into a software simulation test and a test field object test. The software simulation test can be used for locally testing each part of the unmanned ship by using a system modeling technology. And the test field object test is to carry out system test on the whole unmanned ship. Generally, a plurality of subjects are set, and a series of functions such as power, maneuverability, reliability, collision avoidance function and the like of the unmanned ship are tested to obtain a final overall test result.
Disclosure of Invention
The embodiment of the invention provides a method for constructing an unmanned ship reliability test environment model, which can ensure the safety and the accuracy of the test and ensure that the test result has authenticity.
The embodiment of the invention provides a method for constructing an unmanned ship reliability test environment model, which comprises the following steps:
establishing a model of the unmanned ship;
analyzing the influence of the environmental factors on the unmanned ship, and analyzing the sensitive environmental factors;
constructing a virtual test environment platform of the unmanned ship to simulate the unmanned ship and relevant operating marine environments based on the model of the unmanned ship and the analysis result of the sensitive environment factors;
and constructing an unmanned ship reliability test environment model.
In some embodiments of the invention, the modeling of the unmanned ship comprises:
the mathematical simplified model of the unmanned ship is set as follows:
wherein M, C (v) and D (v) respectively represent an inertia matrix, a Koro tension matrix and a damping matrix; tau, taudRespectively the moment generated by the rudder angle and the force and the moment generated by the disturbance of the marine environment;
wherein the model of the rudder is:
wherein, each coefficient is according to the International Towing Tank Conference (ITTC) standard;
the model of the propeller is:
in the formula: n represents the rotational speed of the propeller, CTA is a constant, TdT is the expected thrust and the actual thrust respectively;
the formula of the model of the hydrodynamic forces and moments on the unmanned ship hull is as follows:
in the formula, subscript I represents inertia type fluid power, subscript H represents viscosity type fluid power;
if the unmanned ship moves at a variable speed, the generated 36 additional masses can be expressed as:
from knowledge of the potential flow theory, one can obtain:
mijis an additional inertia matrix, and wherein mij＝mjiThe matrix can be converted into the following matrix:
in the formula, other non-zero terms in the square matrix are additional mass static moments;
in an ideal fluid without boundaries, the unmanned ship can move freely, and the kinetic energy of the fluid disturbance motion is expressed as:
in the formula, v1＝u,v2＝v,v3＝w,v4＝p,v5＝q,v6＝r；
From the above formula, it is possible to obtain:
momentum H of motion due to fluid disturbanceiThe relationship with the kinetic energy T is:
the above formula is put into arrangement, and the projections of the fluid momentum and the momentum moment in the coordinate system of the boat-attached body are obtained as follows:
in some embodiments of the invention, the environmental elements include a geographic environment and a hydrological environment, wherein the geographic environment includes at least seafloor topography and obstacles in the case of an underwater marine environment, and the hydrological environment includes at least ocean currents, tides, internal waves, salters, transparency, sea water temperature, sea water density, salinity, and speed of sound.
In some embodiments of the present invention, the performing sensitive environmental factor analysis includes:
adopting A algorithm, wherein A algorithm has a function form as follows:
f(n)＝g(n)+h(n)
in the formula: n is a node to be expanded, g (n) is an actual penalty, h (n) represents a penalty to be estimated, f (n) represents an estimated value of a minimum penalty path from a starting point to a target point via a point n;
based on the principle that the unmanned ship is required to avoid according to the terrain, the ocean threat degree suffered by navigation is minimum, and enough energy is ensured to complete all missions, the actual cost function is as follows:
g(ni,nj)＝α1Tk(ni,nj)+α2Dis(ni,nj)+α3Hig(ni,nj)
in the formula: t isk(ni，nj) Indicating the strength of the average threat, Dis (ni, nj) indicating the distance of the way, Hig (ni, nj) indicating the height of the average voyage, and α 1, α 2, α 3 indicating weight coefficients, all being greater than 0.
In some embodiments of the invention, the unmanned ship virtual test environment platform comprises an unmanned ship body, a shore-based operating platform, a simulation computer of a carrier and an environment simulation computer:
the unmanned ship body comprises a ship wall, and a computer, a navigation sensor unit, an execution mechanism unit and an observation equipment unit which can carry out automatic driving are arranged on the ship;
wherein the computer capable of automatic driving is in communication connection with the shore-based operating platform, the simulation computer of the carrier and the environment simulation computer.
In some embodiments of the invention, the relevant simulation information of the simulated simulation computer of the carrier is matched with the model of the rudder of the unmanned ship, the model of the propeller and the model of the fluid power and moment to enable a calculation to determine the relevant position and the relevant attitude between the operational processes of the unmanned ship.
In some embodiments of the invention, the unmanned ship virtual test environment platform can set a human-computer interface through a marine environment simulation computer to realize the simulation of the geographic environment and the hydrological environment.
In some embodiments of the present invention, the constructing the unmanned ship reliability test environment model includes:
a virtual test section for performing analog simulation on the unmanned ship and the test environment, respectively;
the virtual combined real ship testing part is used for carrying out real-time interaction by adopting an actual unmanned ship and a testing water area based on the simulation of the virtual testing part and combining a testing environment of simulation;
a real ship test section to test the unmanned ship based on the actual unmanned ship and an actual test environment.
The unmanned ship reliability test environment model construction method provided by the embodiment of the invention has the following advantages: the advantages of virtual testing and real ship testing are integrated, the designed testing system can carry out layered testing on unmanned surface vessels with different autonomous sailing capacities, and ideas based on scene testing and task testing are adopted in each layer of testing, so that the diversity, the rapidity and the safety of the testing are guaranteed, the scientificity of the testing result is guaranteed, the whole testing process is guaranteed safely, and the testing result is more authentic.
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FIG. 1 is a schematic diagram of a virtual environment composition of an unmanned ship in an unmanned ship reliability test environment model construction method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a structure of an unmanned ship reliability test environment in the unmanned ship reliability test environment model construction method according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be further described with reference to the accompanying drawings and detailed description.
The phrases "in one embodiment," "in another embodiment," "in yet another embodiment," "in an embodiment," "in some embodiments," or "in other embodiments" may be used in this specification to refer to one or more of the same or different embodiments in accordance with the invention.
Specific embodiments of the present invention are described hereinafter with reference to the accompanying drawings; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Well-known and/or repeated functions and configurations have not been described in detail so as to avoid obscuring the invention in unnecessary or unnecessary detail based on the user's historical actions. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed structure.
The embodiment of the invention provides a method for constructing an unmanned ship reliability test environment model, which comprises the following steps:
establishing a model of the unmanned ship;
analyzing the influence of the environmental factors on the unmanned ship, and analyzing the sensitive environmental factors;
constructing a virtual test environment platform of the unmanned ship to simulate the unmanned ship and relevant operating marine environments based on the model of the unmanned ship and the analysis result of the sensitive environment factors;
and constructing an unmanned ship reliability test environment model.
In this embodiment, the establishing a model of the unmanned ship includes:
taking a typical unmanned ship as a research object, setting a mathematical simplified model of the unmanned ship as follows:
wherein M, C (v) and D (v) respectively represent an inertia matrix, a Koro tension matrix and a damping matrix; tau, taudRespectively the moment generated by the rudder angle and the force and the moment generated by the disturbance of the marine environment;
the forces and moments generated by the rudder on the navigation movement of the aircraft are complex, and the acting force of the rudder of the unmanned ship is usually considered only by considering the resistance, the moments and the lift force generated by the rudder. While ignoring the coupling effect between them. The model of the rudder is:
wherein, each coefficient is according to the International Towing Tank Conference (ITTC) standard;
the model of the propeller is:
in the formula: n represents the rotational speed of the propeller, CTA is a constant, TdT is the expected thrust and the actual thrust respectively;
the fluid power and torque on the unmanned ship hull can be divided into two types according to the force cause, wherein one type is inertia fluid power and torque, and the other type is viscous fluid power and torque.
Specifically, the formula of the model of the hydrodynamic force and moment on the unmanned ship hull is as follows:
in the formula, subscript I represents inertia type fluid power, subscript H represents viscosity type fluid power;
when the unmanned ship can not move at uniform speed in the ideal fluid, the surrounding fluid medium forces the hull to move at variable speed, and at this time, the fluid necessarily applies an opposite acting force to the hull, which is called inertia-type hydrodynamic force.
If the unmanned ship moves at a variable speed, the generated 36 additional masses can be expressed as:
from knowledge of the potential flow theory, one can obtain:
mijfor an additional inertia matrix, a 6 th order square matrix,
the fluid inertia force in the j direction is expressed when the unmanned ship moves in parallel along the direction or rotates around the i direction, the magnitude of the fluid inertia force is in a direct proportion relation with the acceleration of the hull motion, and the direction of the fluid inertia force is always opposite to the direction of the acceleration of the unmanned ship. m isijIt is irrelevant to the appearance of the unmanned ship and the selection of the coordinate axes and other motion conditions of the unmanned ship.
And can prove that, wherein, mij＝mjiI.e. mijCompared with the unmanned ship on the water surface, the unmanned ship has a plane of symmetry, namely a plane of median longitudinal section xoz, so when the ship moves parallel to the plane of symmetry, namely, moves parallel along the ox axis or rotates around the oy axis, the relevant flow fields around the hull are all symmetrical to the plane xoz, at this time, the fluid pressure is also symmetrical to the hull, so the projection distance of the resultant force of the dynamic forces of the fluids on the oy axis is also zero, and the moments of the forces on the ox axis and the oz axis are also zero, so that the following conditions exist:
moving along the ox axis is: m is12＝m14＝m16Moving along the oy axis at 0 has: m is32＝m34＝m36Moving along the oz axis at 0 has: m is52＝m54＝m560. Therefore, the following matrix can be converted:
in the formula, other non-zero terms in the square matrix are additional mass static moments;
from this perspective, it can be understood that since the relative motion of the unmanned ship drives the surrounding fluid, the relative mass or moment of inertia of the fluid is represented by mijCalculated as m, this isijThe reason why is so called the additional mass and the additional moment of inertia of the unmanned ship's motion.
In an ideal fluid without boundaries, the unmanned ship can move freely, and the kinetic energy of the fluid disturbance motion is expressed as:
in the formula, v1＝u,v2＝v,v3＝w,v4＝p,v5＝q,v6＝r；
From the above formula, it is possible to obtain:
momentum H of motion due to fluid disturbanceiThe relationship with the kinetic energy T is:
the above formula is put into arrangement, and the projections of the fluid momentum and the momentum moment in the coordinate system of the boat-attached body are obtained as follows:
further, in this embodiment, the environmental elements include a geographic environment and a hydrological environment, and besides the unmanned ship performing tasks on the water surface, the unmanned ship is also an important branch of unmanned ship application, the underwater marine environment is more complex, and the environmental factors to be considered are also more complicated, wherein in the case of the underwater marine environment, the geographic environment at least includes submarine topography and obstacles, which form a lower boundary of the underwater vehicle, and the hydrological environment at least includes ocean currents, tides, internal waves, a jump layer, transparency, seawater temperature, seawater density, salinity and sound velocity, which affect the navigation safety and concealment of the unmanned ship. By analyzing the causes and influences of main marine environmental factors such as ocean currents, transparency, skip layers, internal waves and the like, favorable factors of the marine environment are better utilized to plan the route of the unmanned ship, and unfavorable factors are avoided or reduced. The comprehensive capability of the unmanned ship in a complex marine environment is enhanced.
Further, on the basis of analyzing the influence of the environmental elements on the unmanned ship, sensitive environmental factor analysis is carried out, and the sensitive environmental factor analysis comprises the following steps:
the environmental elements are inevitable influence factors of the unmanned ship under the ocean condition, and different parameters are required to be set in the ocean mission process of the unmanned ship due to different mission plans, which can be specifically shown in table 1.
TABLE 1 environmental factors reference threat weights in each task
| Factors of the fact | Near-shore patrol | Subsea search | Port reconnaissance | Material transfer |
| Ocean currents | 9 | 6 | 8 | 9 |
| Transparency | 6 | 7 | 9 | 3 |
| Spring layer | 7 | 9 | 7 | 5 |
| Internal wave | 8 | 8 | 6 | 4 |
| Temperature of | 2 | 1 | 3 | 8 |
| Humidity | 1 | 2 | 2 | 3 |
| Salt fog | 3 | 3 | 1 | 2 |
| Jolt shock | 5 | 4 | 5 | 7 |
| Vibration | 4 | 5 | 4 | 6 |
Adopting A algorithm, wherein A algorithm has a function form as follows:
f(n)＝g(n)+h(n)
in the formula: n is a node to be expanded, g (n) is an actual penalty, h (n) represents a penalty to be estimated, f (n) represents an estimated value of a minimum penalty path from a starting point to a target point via a point n;
different missions require unmanned ships to avoid according to different conditions of the terrain, so that the ocean threat degree of the aircraft is minimum, and enough energy is ensured to complete all missions. Therefore, the cost function should consider factors such as threat and terrain obstacle, and also should shorten the voyage as much as possible and reduce the voyage time, then the actual cost function is:
g(ni,nj)＝α1Tk(ni,nj)+α2Dis(ni,nj)+α3Hig(ni,nj)
in the formula: t isk(ni，nj) Indicating the strength of the average threat, Dis (ni, nj) indicating the distance of the way, Hig (ni, nj) indicating the height of the average voyage, α1、α2、α3Representing weight coefficients, and all being greater than 0.
Further, in this embodiment, when constructing the virtual test environment platform of the unmanned ship, the whole virtual test environment platform of the unmanned ship is as shown in fig. 1, and includes an unmanned ship body, a shore-based operation platform, a simulation computer of a carrier, and an environment simulation computer; the unmanned ship body comprises a ship wall, a computer and a navigation sensor unit which can carry out automatic driving, various units with actuating mechanisms and a specific observation equipment unit are arranged on a ship shell;
wherein the computer capable of automatic driving is in communication connection with the shore-based operating platform, the simulation computer of the carrier and the environment simulation computer. Specifically, the automatic driving computer is connected with a shore-based manual operation platform, a simulation computer of a carrier and an environment simulation computer; the simulation computer of the carrier and the automatic driving computer are connected through a hardware interface; the simulation computer of the carrier and the environment simulation computer are connected in a combined mode through a high-speed communication network, and the environment simulation computer is also provided with display equipment.
Each platform of the shore-based operation comprises a monitoring computer device, the monitoring computer device is provided with a communication interface, a water surface operation platform and a water surface navigation device unit, and the communication interface is connected with an automatic driving computer.
Various plates are arranged on the simulation computer of the carrier, and the automatic driving computer and the simulation computer of the carrier are provided with the same plates; the simulation computer of the carrier is connected with the A/D conversion board of the automatic driving computer, the simulation computer of the carrier is connected with the D/A conversion board of the automatic driving computer, the simulation computer of the carrier is connected with the DI input board of the automatic driving computer, and the simulation computer of the carrier is also connected with the DO output board of the automatic driving computer.
In this embodiment, the simulation information on the simulation computer of the carrier is matched with the model of the rudder of the unmanned ship, the model of the propeller, and the model of the hydrodynamic force and moment, so that the relative position and the relative attitude between the operation processes of the unmanned ship can be calculated and determined. Specifically, the relevant simulation information (e.g., relevant software configuration information and the like) of the simulation computer of the carrier can make the dynamics of the unmanned ship consistent with the fluid dynamics model by calculating the relevant information, so that the relevant position and the relevant attitude between the operation processes of the unmanned ship can be calculated. Various sensors and devices on the unmanned ship can be achieved by using simulation technology, such as a compass for realizing a virtual Doppler log and a virtual fiber-optic gyroscope, a sensor for simulating water leakage, a sensor for simulating a thermohalimeter and the like. The display equipment connected with the environment simulation computer is the type of 3D display equipment.
Further, in this embodiment, the virtual test environment platform for the unmanned ship can set a human-computer interface through the marine environment simulation computer to realize simulation of a geographic environment and a hydrological environment. Specifically, the platform can be used for simulating the unmanned ship body and other running relevant marine environments by methods such as simulation and the like, and further can perform various relevant control algorithm experiments on the unmanned ship by simulating the research of various relevant experiments in different marine environments, so that relevant control is free of any risk.
The relative configurations of the computer for the actual unmanned ship's autopilot of the test platform and the computer for the unmanned ship's autopilot during simulation are the same, so that various systems that can be successfully tested on the simulated platform can be directly used in various actual unmanned ships.
The test platform can set a human-computer interface through a marine environment simulation computer to realize parameters of various environments such as flow, wave or various obstacles, and can also realize the simulation of various marine environments which may be occasionally encountered through flexible related setting modes.
The structure of the system can be expanded, for example, the unmanned ship may use acoustic related equipment, environment related observation equipment and the like, digital related simulation can be carried out through a computer, and the digital related simulation can be transmitted to a related automatic driving computer through a network, so that the computer for environment simulation is realized, and various displays can be carried out.
In addition, in this embodiment, the constructing the unmanned ship reliability testing environment model includes:
a virtual test section for performing analog simulation on the unmanned ship and the test environment, respectively;
the virtual combined real ship testing part is used for carrying out real-time interaction by adopting an actual unmanned ship and a testing water area based on the simulation of the virtual testing part and combining a testing environment of simulation;
a real ship test section to test the unmanned ship based on the actual unmanned ship and an actual test environment.
Specifically, the unmanned surface vessel testing technology is divided into three parts, namely virtual testing, real ship testing and real virtual-real ship testing. The virtual test is based on a virtual scene and a virtual ship, the virtual scene corresponding to the virtual scene is constructed through simulation of a real environment, various complex calculation experiments are carried out by means of the virtual scene, modeling is carried out by taking navigation data of a real unmanned surface ship as a basis, the effectiveness of autonomous navigation perception, control, planning and collision avoidance algorithms of the unmanned surface ship can be verified in the virtual scene, and the virtual scene and test task parameters can be configured. The virtual-real ship combined test belongs to 'hardware-in-loop and personnel supervision', and is based on a virtual scene and a real ship, real-time communication between a test platform and a test unmanned surface ship is realized through a medium-short distance communication link, virtual environment information is interacted between the test platform and the test ship, and the autonomous navigation capability of the unmanned surface ship including software, hardware, information processing capability, communication capability and the like can be tested. The unmanned surface vessel autonomous navigation test system is based on an actual vessel in an actual scene at sea, the unmanned surface vessel is actually tested in a completely real natural environment, the part of test is carried out on the basis that a first part and a second part of test results obtain better results, the safety of the actual offshore test is ensured, the unmanned surface vessel autonomous navigation capability is checked at the highest level, the comprehensive test is changed to comprise unmanned surface vessel software and hardware, the natural environment at sea and the traffic environment, the autonomous navigation capability of the unmanned surface vessel is tested in a layer-by-layer progressive mode between three parts of stepped tests, and the directions, the regions and the functions are divided, so that the unmanned surface vessel autonomous navigation test is more comprehensive, abundant, rapid and safe.
The unmanned ship reliability test environment model designed by the invention integrates the advantages of virtual test and real ship test, the designed test system can carry out layered test on unmanned surface ships with different autonomous sailing capacities, and in each layer of test, the thinking based on scene test and task test is adopted, so that the diversity, rapidity and safety of the test are ensured, the scientificity of the test result is ensured, and the overall structure is shown in figure 2.
The virtual testing part respectively carries out software definition on the unmanned surface vessel and the testing scene, and in the testing, physical models in the unmanned surface vessel and the scene are visual three-dimensional virtual models. The navigation scene data in the natural environment is subjected to iteration, recurrence, testing and screening repeatedly, a typical test scene is selected, the probability of danger occurrence can be increased in the test process, and the test period is shortened, so that the purpose of test acceleration is achieved. The test of the part is only limited to the unmanned surface boat software part, the test cost is low, the test scene is diversified, and the test system is not limited by external conditions.
The virtual-real ship testing part further considers the reality of the unmanned surface vessel in marine navigation on the basis of the virtual test. The actual unmanned surface vessel sailing marine environment cannot be accurately simulated in the virtual environment, the mode that a scene model of a virtual part is combined with a sea open test field is applied to the test part, the actual physical unmanned surface vessel interacts with the virtual sailing scene part in real time, and support is provided for reliability test of autonomous sailing of the unmanned surface vessel. The part of the test is further offshore test under the condition that the unmanned surface vessel algorithm is correct, and the defect that only theoretical research is emphasized in the self-adaptive test process of the unmanned surface vessel is overcome. The virtual part comprises software definitions of the unmanned surface vessel and a navigation environment, the real vessel part comprises an actual physical unmanned surface vessel and a marine test water area, the actual physical unmanned surface vessel and the marine test water area are an actual system and an artificial system in a parallel system, and real-time interaction of the actual physical unmanned surface vessel and the artificial system realizes real-time and dynamic test of software and hardware in a test process. The part overcomes the one-sidedness of virtual test, shortens the test period and gives consideration to a software part and a hardware part in the test.
The real ship testing part is an unmanned surface boat offshore testing field test, wherein the unmanned surface boat and the offshore environment are both real physical entities and are key links of the unmanned surface boat self-adaptive test. After the tests of the virtual test part and the virtual reality test part of the unmanned surface vehicle are completed, the autonomous navigation capability of the unmanned surface vehicle is ensured to a certain extent; then, the offshore real ship test is carried out, the test process has safety guarantee, and the test result is more authentic.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (8)
1. A method for constructing an unmanned ship reliability test environment model is characterized by comprising the following steps:
establishing a model of the unmanned ship;
analyzing the influence of the environmental factors on the unmanned ship, and analyzing the sensitive environmental factors;
constructing a virtual test environment platform of the unmanned ship to simulate the unmanned ship and relevant operating marine environments based on the model of the unmanned ship and the analysis result of the sensitive environment factors;
and constructing an unmanned ship reliability test environment model.
2. The method for constructing the unmanned ship reliability test environment model according to claim 1, wherein the establishing of the unmanned ship model comprises:
the mathematical simplified model of the unmanned ship is set as follows:
wherein M, C (v) and D (v) respectively represent an inertia matrix, a Koro tension matrix and a damping matrix; tau, taudRespectively the moment generated by the rudder angle and the force and the moment generated by the disturbance of the marine environment;
wherein the model of the rudder is:
wherein, each coefficient is according to the International Towing Tank Conference (ITTC) standard;
the model of the propeller is:
in the formula: n represents the rotational speed of the propeller, CTA is a constant, TdT is the expected thrust and the actual thrust respectively;
the formula of the model of the hydrodynamic forces and moments on the unmanned ship hull is as follows:
in the formula, subscript I represents inertia type fluid power, subscript H represents viscosity type fluid power;
if the unmanned ship moves at a variable speed, the generated 36 additional masses can be expressed as:
from knowledge of the potential flow theory, one can obtain:
mijis an additional inertia matrix, and wherein mij＝mjiThe matrix can be converted into the following matrix:
in the formula, other non-zero terms in the square matrix are additional mass static moments;
in an ideal fluid without boundaries, the unmanned ship can move freely, and the kinetic energy of the fluid disturbance motion is expressed as:
in the formula, v1＝u,v2＝v,v3＝w,v4＝p,v5＝q,v6＝r；
From the above formula, it is possible to obtain:
momentum H of motion due to fluid disturbanceiThe relationship with the kinetic energy T is:
the above formula is put into arrangement, and the projections of the fluid momentum and the momentum moment in the coordinate system of the boat-attached body are obtained as follows:
3. the unmanned ship reliability test environment model construction method according to claim 2,
the environmental elements comprise a geographical environment and a hydrological environment, wherein in case of an underwater marine environment, the geographical environment at least comprises submarine topography and obstacles, and the hydrological environment at least comprises sea currents, tides, internal waves, a troposphere, transparency, sea water temperature, sea water density, salinity and sound velocity.
4. The method for constructing the unmanned ship reliability testing environment model according to claim 3, wherein the performing sensitive environment factor analysis comprises:
adopting A algorithm, wherein A algorithm has a function form as follows:
f(n)＝g(n)+h(n)
in the formula: n is a node to be expanded, g (n) is an actual penalty, h (n) represents a penalty to be estimated, f (n) represents an estimated value of a minimum penalty path from a starting point to a target point via a point n;
based on the principle that the unmanned ship is required to avoid according to the terrain, the ocean threat degree suffered by navigation is minimum, and enough energy is ensured to complete all missions, the actual cost function is as follows:
g(ni,nj)＝α1Tk(ni,nj)+α2Dis(ni,nj)+α3Hig(ni,nj)
in the formula: t isk(ni，nj) Indicating the strength of the average threat, Dis (ni, nj) indicating the distance of the way, Hig (ni, nj) indicating the height of the average voyage, α1、α2、α3Representing weight coefficients, and all being greater than 0.
5. The method according to claim 4, wherein the unmanned ship virtual test environment platform comprises an unmanned ship body, a shore-based operation platform, a simulation computer of a carrier, and an environment simulation computer:
the unmanned ship body comprises a ship wall, and a computer, a navigation sensor unit, an execution mechanism unit and an observation equipment unit which can carry out automatic driving are arranged on the ship;
wherein the computer capable of automatic driving is in communication connection with the shore-based operating platform, the simulation computer of the carrier and the environment simulation computer.
6. The unmanned ship reliability test environment model construction method according to claim 5,
and the relevant simulation information of the simulation computer of the carrier is matched with the model of the rudder of the unmanned ship, the model of the propeller and the model of the fluid power and the moment so as to calculate and determine the relevant position and the relevant posture between the operation processes of the unmanned ship.
7. The unmanned ship reliability test environment model construction method according to claim 6, wherein the unmanned ship virtual test environment platform is capable of setting a human-computer interface through a marine environment simulation computer to realize simulation of a geographical environment and a hydrological environment.
8. The method for constructing the unmanned ship reliability test environment model according to claim 7, wherein the constructing the unmanned ship reliability test environment model comprises:
a virtual test section for performing analog simulation on the unmanned ship and the test environment, respectively;
the virtual combined real ship testing part is used for carrying out real-time interaction by adopting an actual unmanned ship and a testing water area based on the simulation of the virtual testing part and combining a testing environment of simulation;
a real ship test section to test the unmanned ship based on the actual unmanned ship and an actual test environment.
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