CN117698949A - Ship wave simulation and compensation control simulation method, device, equipment and medium - Google Patents
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Abstract
The invention provides a ship wave simulation and compensation control simulation method, a device, equipment and a medium, wherein the ship wave simulation and compensation control simulation method comprises the following steps: establishing a wave model and determining a ship dynamics model of nonlinear motion of a target ship in six degrees of freedom; generating a target simulated wave according to the wave model, and simulating the target ship according to the ship dynamics model and the simulated wave to obtain the pose of the target ship with six degrees of freedom under the simulated wave; determining motion response and compensation quantity by adopting CFD, and determining control parameters according to the motion response and the compensation quantity; and executing wave compensation control processing of the target ship according to the control parameters. The beneficial effects of the invention are as follows: the cost of wave motion compensation research is reduced, the accuracy of simulation technology is improved, and the multidimensional active optimal compensation effect of the wave compensation system can be realized.
Description
Technical Field
The invention relates to the technical field of computers and simulation, in particular to a ship wave simulation and compensation control simulation method, device, equipment and medium.
Background
Various types of offshore structures have increased over the 21 st century and require extremely frequent maintenance. The deep sea resource exploration ship can generate six-degree-of-freedom motions of swaying, surging, heaving, rolling, pitching and bowing under the action of sea waves and sea winds, so that great influence is brought to offshore personnel transportation and material supply, even the life safety of offshore operators is threatened, and key problems such as urgent lifting of the operation stability and safety of exploration equipment under complex sea conditions are urgently solved.
The existing wave motion compensation system mainly collects sensor signals through a motion measurement system, processes the sensor signals through a multisource fusion algorithm and inputs the sensor signals to a control system; after the data processing is completed, the position and the gesture are reversely solved, the six-degree-of-freedom motion of the expected value of the control action generating system is controlled to realize the simulation of the ship wave, the calculation experiment is repeatedly carried out in the actual environment, more manpower and material resources are consumed, and the inconvenience is brought to the research of the ship wave simulation system. While performing the model experiment can obtain various data required by the designer, a longer experiment period and expensive experiment cost are required, the cost for constructing the experiment model is very high, a plurality of experiments are possibly required for different conditions, the cost is more, the period is also longer than several months, and the model experiment is difficult to be widely adopted in engineering design.
Disclosure of Invention
The embodiment of the invention mainly aims to provide a ship wave simulation and compensation control simulation method, device, equipment and medium, which realize the multidimensional active compensation of waves and reduce the research and development cost of the marine ship.
One aspect of the present invention provides a method for simulating and compensating for controlling a wave of a ship, comprising:
according to the ship wave simulation and compensation control simulation request, establishing a wave model, and determining a ship dynamics model of nonlinear motion of the target ship in six degrees of freedom, wherein the wave model is used for representing wave motion of the sea level of the simulated target ship;
generating a target simulated wave according to the wave model, and simulating the target ship according to the ship dynamics model and the simulated wave to obtain the pose of the target ship with six degrees of freedom under the simulated wave;
according to the pose of the target ship, determining motion response and compensation quantity by adopting CFD, and determining control parameters according to the motion response and the compensation quantity;
and executing wave compensation control processing of the target ship according to the control parameters.
According to the ship wave simulation and compensation control simulation method, a wave model is established according to a ship wave simulation and compensation control simulation request, and the method comprises the following steps:
determining the wave model by using zeta (t) function of Longuet-Higgins model sea level fixed point, wherein
Wherein ε is i Is the initial phase epsilon of the ith harmonic of the sea level wave i Is a random variable, and ε i At [0,2 pi ]]Uniformly distributed in the range; omega i Is the angular frequency of sea level waves, byDetermining, wherein omega m ＝0.2rad/s，ω M ＝2.5rad/s，ζ ai Is the amplitude of the ith harmonic, wherein the sea level wave is a binary irregular wave.
According to the ship wave simulation and compensation control simulation method, wherein the ship wave simulation and compensation control simulation request determines a ship dynamics model of the nonlinear motion of the target ship in six degrees of freedom, comprising:
determining a relationship of the target vessel in six degrees of freedom, includingFurther obtain
Wherein the method comprises the steps ofRepresenting the relation between the velocity vector of the ship in the follow-up coordinate system and the velocity vector in the fixed coordinate system,/v>Representing the relationship between the ship speed and the position in the following coordinate system and the fixed coordinate system,/->The angle relation between the ship follow-up coordinate system and the fixed coordinate system is represented; wherein eta is E R 3 ×S 3 ，v∈R 6 The method comprises the steps of carrying out a first treatment on the surface of the Wherein->Is that
Wherein alpha, beta and gamma are rotation angles of the ship moving relative to an x axis, a y axis and a z axis under a fixed coordinate system;
determining an attitude rotation matrix T according to the rotation angle corresponding to the ship follow-up coordinate system to the fixed coordinate system of the target ship θ (θ) is
And determining a ship dynamics model of the nonlinear motion of the target ship in six degrees of freedom through the relation of the six degrees of freedom and the attitude rotation matrix.
According to the ship wave simulation and compensation control simulation method, a target simulation wave is generated according to the wave model, the target ship is simulated according to the ship dynamics model and the simulation wave, and the pose of the target ship with six degrees of freedom under the simulation wave is obtained, and the method comprises the following steps:
determining six-degree-of-freedom nonlinear motion of target ship as by CFD simulation
Wherein M is the inertial matrix of the system, m=m rb +M A ；
C (v) is a coriolis matrix, with C (v) =c rb (v)+C A (v)，C rb (v)、C A (v) Coriolis Li Juzhen, g (n) is force and moment caused by gravity/buoyancy, D (v) is matrix of damping coefficient, g 0 For balancing the force of ballast water, r is the pushing of the target ship propellerForce and moment, ω is the external environment and external force;
determining a wave-wave coupling model according to wave theory, fluid motion continuity and momentum conservation theory, and constructing a numerical wave water tank accurate target wave according to the coupling model and by adopting a numerical wave generation method and a damping wave elimination method
Generating target waves according to the wave model, a numerical wave generation method and a damping wave elimination method;
and solving the pose of the deep sea resource exploration ship under the influence of random waves by adopting a CFD solving result according to the target waves and the six-degree-of-freedom nonlinear motion of the target ship.
According to the ship wave simulation and compensation control simulation method, a motion response and a compensation amount are determined by adopting CFD according to the pose of a target ship, and control parameters are determined according to the motion response and the compensation amount, including:
the method comprises the steps that a wave compensation platform is adopted to simulate the pose of a target ship, a translation coordinate rotation matrix and a rotation coordinate transformation matrix are determined according to the pose, and a total transformation matrix from a static coordinate system to a dynamic coordinate system is determined according to the translation coordinate rotation matrix and the rotation coordinate transformation matrix, wherein the wave compensation platform comprises a static platform and a dynamic platform which are connected through hydraulic cylinder supporting legs, the hydraulic cylinder supporting legs are provided with corresponding hinge points with the static platform or the dynamic platform, the static coordinate system represents the coordinate system of the static platform, and the dynamic coordinate system represents the coordinate system of the dynamic platform;
according to the coordinates of the movable platform hinge points in the movable coordinate system and according to the total transformation matrix, determining the coordinate positions of the movable platform hinge points in the static coordinate system;
and determining the length of the hydraulic cylinder supporting leg by adopting inverse solution according to the coordinate position of the hinge point of the static platform in the static coordinate system, the total transformation matrix and the coordinate of the hinge point of the movable platform in the coordinate position of the movable coordinate system.
The ship wave simulation and compensation control simulation method comprises the following steps:
establishing independent entity models of a static platform, a movable platform, a static platform hinge point, a movable platform hinge point and a hydraulic cylinder supporting leg in the wave compensation platform to obtain a wave compensation platform model, wherein the independent entity models are not in constraint fit;
generating a working environment, a kinematic pair and a load for the wave compensation platform model;
and simulating driving and compensation influenced by the motion of the wave model through a wave compensation platform model by adopting a driving function so as to simulate the process from compensation to control of the sea level wave of the target ship.
The ship wave simulation and compensation control simulation method comprises the following steps:
the hydrodynamic characteristic data and cloud pictures of each simulation process of the wave compensation platform model are collected;
and (3) carrying out multiple simulation by setting sea conditions and operation conditions simulated by different wave models to obtain the response speed, compensation effect and stability of the ship wave simulation.
Another aspect of the embodiments of the present invention provides a ship wave simulation and compensation control simulation apparatus, including:
the system comprises a first module, a second module and a third module, wherein the first module is used for establishing a wave model according to a ship wave simulation and compensation control simulation request and determining a ship dynamics model of nonlinear motion of a target ship in six degrees of freedom, and the wave model is used for representing wave motion of a sea level where the simulated target ship is located;
the second module is used for generating a target simulated wave according to the wave model, and simulating the target ship according to the ship dynamics model and the simulated wave to obtain the pose of the target ship with six degrees of freedom under the simulated wave;
the third module is used for determining motion response and compensation quantity by adopting CFD according to the pose of the target ship, and determining control parameters according to the motion response and the compensation quantity;
and a fourth module for executing wave compensation control processing of the target ship according to the control parameters.
Another aspect of an embodiment of the present invention provides an electronic device, including a processor and a memory;
the memory is used for storing programs;
the processor executes the program to implement the method as described above.
Embodiments of the present invention also disclose a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read from a computer-readable storage medium by a processor of a computer device, and executed by the processor, cause the computer device to perform the method described previously.
The beneficial effects of the invention are as follows: the CFD-based simulation method for the six-degree-of-freedom wave compensation system of the wave model and the ship reduces the cost of wave motion compensation research and improves the accuracy of simulation technology; meanwhile, based on analysis of dynamic coupling response characteristics of the ship under complex sea conditions, the multi-dimensional active optimal compensation effect of the wave compensation system can be achieved by adopting a combined optimization control technology of a mechanical and electrical control multi-domain system.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flow chart of a method for simulating and compensating control of a ship wave according to an embodiment of the invention.
FIG. 2 is a schematic diagram of a simulation flow of a marine wave simulation and compensation control according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a simulation flow of a marine dynamics model according to an embodiment of the present invention.
FIG. 4 is a schematic diagram of a simulation flow based on CFD simulation control in accordance with an embodiment of the present invention.
FIG. 5 is a schematic diagram of a simulation flow of a wave compensation platform according to an embodiment of the present invention.
FIG. 6 is a schematic representation of six degrees of freedom response CFD prediction for a marine vessel in accordance with an embodiment of the present invention.
FIG. 7 is a schematic diagram of a simulation flow of a wave compensation platform according to an embodiment of the present invention.
FIG. 8 is a schematic diagram of a virtual prototype model of a wave compensation platform according to an embodiment of the invention.
FIG. 9 is a schematic diagram of the electromechanical hydraulic combination control of a wave compensation platform according to an embodiment of the present invention.
FIG. 10 is a diagram of a marine wave simulation and compensation control simulation analysis apparatus according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. In the following description, suffixes such as "module", "part" or "unit" for representing elements are used only for facilitating the description of the present invention, and have no particular meaning in themselves. Thus, "module," "component," or "unit" may be used in combination. "first", "second", etc. are used for the purpose of distinguishing between technical features only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated. In the following description, the continuous reference numerals of the method steps are used for facilitating examination and understanding, and the technical effects achieved by the technical scheme of the invention are not affected by adjusting the implementation sequence among the steps in combination with the overall technical scheme of the invention and the logic relations among the steps. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
Referring to fig. 1, fig. 1 is a flow chart of a ship wave simulation and compensation control simulation method, which includes, but is not limited to, steps S100 to S400:
and S100, establishing a wave model according to a ship wave simulation and compensation control simulation request, and determining a ship dynamics model of the nonlinear motion of the target ship in six degrees of freedom, wherein the wave model is used for representing the wave motion of the sea level of the simulated target ship.
In some embodiments, referring to the ship wave simulation and compensation control simulation flow diagram shown in fig. 2, it includes, but is not limited to, step S110:
s110, adopting a zeta (t) function of a Longuet-Higgins model sea level fixed point, and determining the wave model through the zeta (t) function.
In some embodiments, the motion process of the sea wave has high complexity and irregular performance, the mathematical model of the sea wave cannot be accurately deduced, the sea wave is based on binary irregular waves, and zeta (t) is generally regarded as cosine waves with different wavelengths, amplitudes and initial phases as random variables to be overlapped, namely the sea wave is represented by the following Longuest-Higgins model:
in view of the zeta (t) function of the sea level fixed point, which has a general expression, when both ζ and η are set to 0 and the subharmonic is not counted, the above formula can be simplified as follows:
in this case, ε i Is the first phase of the ith harmonic, which belongs to a random variable and is at [0,2 pi ]]Uniformly distributed in the range; omega i Represents angular frequency by expressionIt can be found that omega m ＝0.2rad/s，ω M ＝2.5rad/s，ζ ai Is the amplitude of the ith harmonic.
And S200, generating a target simulated wave according to the wave model, and simulating the target ship according to the ship dynamics model and the simulated wave to obtain the pose of the target ship with six degrees of freedom under the simulated wave.
In some embodiments, wherein fig. 3 is a schematic diagram of a simulation flow of a ship dynamics model, including, but not limited to, steps S210-S230:
s210, determining the relation of the target ship in six degrees of freedom;
s220, determining an attitude rotation matrix according to the rotation angle corresponding to the ship follow-up coordinate system of the target ship to the fixed coordinate system;
s230, determining a ship dynamics model of nonlinear motion of the target ship in six degrees of freedom through the relation of the six degrees of freedom and the attitude rotation matrix.
In some embodiments, the ship can generate six degrees of freedom of motion under the disturbance of waves, and as the ship dynamic positioning system can well control the disturbance of three degrees of freedom of heave, roll and pitch, the disturbance of three degrees of freedom is the most important factor affecting the marine floating operation of the ship.
And the conversion relation between different variables of the ship motion in the fixed coordinate system and the follow-up coordinate system is presented through the ship kinematics model. This model can be obtained via angular velocity rotation, linear velocity rotation and main rotation.
The following relationship exists between the velocity vector in the following coordinate system and the velocity vector in the fixed coordinate system of the ship:
wherein the method comprises the steps ofIs a velocity vector of the ship in a follow-up coordinate system; />For the velocity vector of the ship in a fixed coordinate system, is->Is a fixed coordinate system and a follow-upA transformation matrix of the coordinate system;
under the following coordinate system and the fixed coordinate system, the following relationship exists between the ship speed and the position:
wherein P is n Is the position vector of the ship; the ship follow-up coordinate system and the fixed coordinate system respectively show the angle relation:
wherein the method comprises the steps ofIs the angle vector of the ship in the follow-up coordinate system, theta is the angle vector of the ship in the fixed coordinate system, T θ (θ) is a gesture rotation matrix;
in summary, the vector form of the six-degree-of-freedom kinematic model of the ship can be expressed as:
wherein eta is E R 3 ×S 3 ；v∈R 6 ；
Rotation matrix of the ship from the following coordinate system to the fixed coordinate system corresponds to Rotation angles α, β, γ, if the latter are determined, the Rotation matrix can be determined and simultaneously with R -1 (θ)＝R T (θ) compliance, matrixShown by the following formula:
wherein alpha, beta and gamma are rotation angles of the ship moving relative to an x axis, a y axis and a z axis under a fixed coordinate system;
the gesture rotation matrix is expressed as:
in some embodiments, referring to fig. 4, fig. 4 is a schematic flow chart of CFD-based simulation control simulation according to an embodiment of the present invention, including but not limited to steps S240 to S270:
s240, determining six-degree-of-freedom nonlinear motion of the target ship by adopting CFD simulation.
In some embodiments, in analyzing the mathematical model of ship kinematics, the ship is first treated as a rigid body, and modeling is carried out on each part of the ship; then, based on the momentum matrix theorem and the physical momentum theorem, the forces and moments with the same direction are synthesized. In the embodiment of the invention, the ship is regarded as a rigid body, the speed of the ship in water is set to be 0, and the six-degree-of-freedom nonlinear motion is represented by the following steps:
where M is the inertial matrix of the system (including the additional mass), so m=m rb +M A The method comprises the steps of carrying out a first treatment on the surface of the C (v) refers to the coriolis heart matrix, with C (v) =c rb (v)+C A (v)，C rb (v)、C A (v) Coriolis Li Juzhen, respectively referred to as rigid, hydrodynamic; g (n) refers to the force and moment due to gravity/buoyancy; d (v) refers to a matrix of damping coefficients; g 0 Means ballast water equalizing force; r refers to the thrust and moment of the ship propeller; omega refers to the external environment and external forces such as wind, waves, currents, etc.
S250, determining a wave-wave coupling model according to a wave theory, fluid motion continuity and momentum conservation theory, and constructing a numerical wave water tank accurate target wave according to the coupling model and by adopting a numerical wave generation method and a damping wave elimination method;
s260, generating target waves according to a wave model, a numerical wave generation method and a damping wave elimination method;
and S270, solving the pose of the deep sea resource exploration ship under the influence of random waves by adopting a CFD (computational fluid dynamics) solution result according to the target waves and the six-degree-of-freedom nonlinear motion of the target ship.
In some embodiments, a mathematical model is constructed to simulate wave propagation and diffusion and wave and structure coupling by considering the random complex state of waves and applying wave theory, fluid motion continuity and momentum conservation theory; constructing a numerical wave water tank according to a numerical wave generation method and a damping wave elimination method to accurately simulate target waves, analyzing the influence of a plurality of parameters used in numerical simulation on simulation precision and calculation, and optimizing the simulation precision of the numerical wave water tank waves; based on a kinematic theory, carrying out kinematic modeling analysis on the deep sea resource exploration ship, and solving a motion equation of the ship motion of the deep sea resource exploration ship along with wave motion relative to an earth coordinate system; in consideration of complex and changeable sea waves, constructing random wave modeling, simulating wave motion of multi-stage sea conditions by utilizing a wave spectrum, and solving six-degree-of-freedom motion response and compensation quantity of the deep sea resource exploration ship under the influence of random waves according to a CFD (computational fluid dynamics) solving result.
And S300, determining motion response and compensation quantity by adopting CFD according to the pose of the target ship, and determining control parameters according to the motion response and the compensation quantity.
In some embodiments, referring to the schematic wave compensation platform simulation flow diagram shown in fig. 5, the embodiment of the present invention completes wave compensation and control of a ship through the wave compensation platform, which includes, but is not limited to, steps S310 to S330:
s310, simulating the pose of the target ship by adopting a wave compensation platform, and determining a translation coordinate rotation matrix and a rotation coordinate transformation matrix according to the pose. The wave compensation system comprises a total transformation matrix from a static coordinate system to a dynamic coordinate system according to a translation coordinate rotation matrix and a rotation coordinate transformation matrix, wherein the wave compensation platform comprises a static platform and a dynamic platform, the static platform and the dynamic platform are connected through hydraulic cylinder supporting legs, the hydraulic cylinder supporting legs are provided with corresponding hinge points with the static platform or the dynamic platform, the static coordinate system represents the coordinate system of the static platform, and the dynamic coordinate system represents the coordinate system of the dynamic platform.
In some implementations, referring to the six-degree-of-freedom response CFD prediction schematic diagram of the ship in fig. 6, CFD wave simulation is performed on the wave compensation platform by using software such as XFlow, corresponding six-degree-of-freedom motion parameters of the ship are obtained as input parameters of a control system, and the six-degree-of-freedom motion parameters are output to Adams for joint simulation to perform motion simulation on dynamics in combination with simulation control of a Matlab/Simulink control system.
S320, determining the coordinate position of the movable platform hinge point in the static coordinate system according to the coordinate of the movable platform hinge point in the movable coordinate system and the total transformation matrix.
S330, determining the length of the hydraulic cylinder supporting leg by adopting inverse solution according to the coordinate position of the hinge point of the static platform in the static coordinate system, the total transformation matrix and the coordinate of the hinge point of the movable platform in the coordinate position of the movable coordinate system.
In some embodiments, FIG. 7 is a schematic diagram of an inverse kinematics solution for a wave compensation system according to an embodiment of the present invention.
Wherein, the inverse solution of the wave compensation system is: knowing the pose of the moving platform, solving the length of 6 hydraulic cylinders is simpler. The data u= [ a, beta, gamma, qx, qy, qz ] to be compensated provided by combining with the MRU measurement, and the coordinate transformation sequence is specified as follows:
(1) Shifting qx, wherein the corresponding transformation matrix is T1;
(2) Translation qy, the corresponding transformation matrix is T2;
(3) Translating qz, and the corresponding transformation matrix is T3;
(4) Rotating alpha, wherein the corresponding transformation matrix is T4;
(5) Rotating beta, wherein the corresponding transformation matrix is T5;
(6) Rotating gamma, wherein the corresponding transformation matrix is T6;
combining the above transformations, the final total transformation matrix T from the static coordinate system to the dynamic coordinate system is obtained:
in the above expression, c represents a cos () function, s represents a sin () function, and the transformation matrix T is represented by s.
The matrix of the colors is called a shift operator and represents the position.
Let the coordinate system on the upper static platform of the wave compensation platform be the static coordinate system O u -X u Y u Z u The coordinate system on the lower movable platform is a movable coordinate system O d -X d Y d Z d . The hinge point of the static platform is arranged on the static coordinate system O u -X u Y u Z u The coordinate vector in (a) is O u A i (i=1, 2,.,. 6) the mobile platform hinge point is in the mobile coordinate system O d -X d Y d Z d The coordinate vector in (a) is O u B i (i=1, 2,.,. 6), hinge point a of the stationary platform i (i=1, 2..6.) in the static coordinate system O u -X u Y u Z u In which the last row in the matrix is added with a determinant of 1 row and 6 column elements of 1, matrix A iu The method can be written as:
wherein d is a The vertical distance from the hinge point of the static platform to the short side of the static platform; l (L) 1 The distance between two adjacent hinge points of the static platform is set;
in the running process of the wave compensation platform, each hinge point of the movable platform changes with time, and the coordinates of each hinge point are in a static coordinate system O u -X u Y u Z u The numerical value of (B) is also continuously changed, and the hinge point coordinate B is obtained i (i=1, 2..6) is shown in the static coordinate system, in matrix B iu Expressed as:
B iu ＝T·B d
wherein B is d The position vector of the movable platform hinge point in the movable coordinate system is given;
in summary, by MRU measurement, the data [ a, beta, qx, qy, qz ] to be compensated obtained by combining the advanced calculation]Solving the inverse of the 6-degree-of-freedom wave compensation platform to obtain the length vector l of the six hydraulic cylinder supporting legs i The method comprises the following steps:
l i ＝A iu -B iu ＝A iu -T·B id
the length |l| of the six hydraulic cylinder supporting legs is as follows:
in some embodiments, referring to the wave compensation platform virtual prototype model schematic shown in fig. 8, based on building an assembly of a wave compensation platform and a wave simulation platform in SolidWorks software, a wave compensation system virtual prototype build is performed,
(1) All the individual components are necessarily represented by individual entities, taking hydraulic cylinders as an example, 6 hydraulic cylinders are built, each hydraulic cylinder has an individual name, each hydraulic cylinder is an independent entity, the hydraulic cylinders are respectively assembled into a three-dimensional model in sequence, one hydraulic cylinder cannot be reused, and the built assembly is imported into ADAMS software by the method;
(2) The three-dimensional assembly model in the SolidWorks software should not have any constrained fits before the assembly model is imported into the ADAMS software, so all of the fits should be deleted in the final assembly file.
(3) When the three-dimensional assembly model of the wave compensation platform is stored in the solid works software, the three-dimensional assembly model is stored in a Parasolid format. The assembly is imported into ADAMS software,
after the three-dimensional assembly model established by the SolidWorks software is obtained, the three-dimensional assembly model is imported into ADAMS software, and design addition of working environment, kinematic pairs, loads and the like is carried out on a virtual prototype of the wave compensation platform, so that an ADAMS software simulation model is obtained. In ADAMS software, after the virtual prototype model of the wave compensation platform is established, the cooperative working principle of the combined platform and the compensation motion of the wave compensation platform can be analyzed.
In some embodiments, referring to the electromechanical hydraulic combination control schematic of the wave compensation platform shown in fig. 9, the heave disturbance caused by the surge is most obvious during the disturbance of the offshore wave, so that the motion compensation of the wave is simulated by the combined platform, the moving drive is added on the cylindrical pair of the six hydraulic cylinders of the wave simulation platform, the driving function is set, the point drive is added to the center of the static platform of the wave compensation platform, the direction is perpendicular to the static platform of the wave compensation platform, the driving function is a constant value 360, and the motions in the other directions are all 0.
And modeling and simulating a multi-body mechanical system of the wave compensation platform based on Simscape-Multibody in MATLAB/Simulink, connecting a rigid body module, a coordinate transformation module and a motion auxiliary module in Matlab/Simulink, and establishing a complete overall control block diagram of the wave compensation platform, namely performing control simulation. The static platform above the wave compensation platform is kept stable.
In some embodiments, after the solving iteration is finished, system simulation characteristic data and cloud patterns can be obtained through post-processing, CFD simulation prediction is repeatedly performed by changing initial conditions such as different sea conditions and system operation conditions, performance tests of the active wave compensation system under different simulated sea conditions are obtained, performance parameters such as response speed, compensation effect and stability are obtained, and calculation accuracy and reliability of the constructed mathematical model and the multi-field system collaborative simulation model are verified.
And S400, executing wave compensation control processing of the target ship according to the control parameters.
FIG. 10 is a diagram of a marine wave simulation and compensation control simulation analysis apparatus according to an embodiment of the present invention. The apparatus includes a first module 1010, a second module 1020, a third module 1030, and a fourth module 1040.
The first module is used for establishing a wave model according to a ship wave simulation and compensation control simulation request, determining a ship dynamics model of nonlinear motion of the target ship in six degrees of freedom, and the wave model is used for representing wave motion of the sea level of the simulated target ship; the second module is used for generating target simulated waves according to the wave model, simulating the target ship according to the ship dynamics model and the simulated waves, and obtaining the pose of the target ship with six degrees of freedom under the simulated waves; the third module is used for determining motion response and compensation quantity by adopting CFD according to the pose of the target ship and determining control parameters according to the motion response and compensation quantity; and a fourth module for executing wave compensation control processing of the target vessel according to the control parameters.
By way of example, the device of the embodiment can realize any of the aforementioned ship wave simulation and compensation control simulation methods under the cooperation of the first module, the second module, the third module and the fourth module in the device, that is, according to the ship wave simulation and compensation control simulation request, a wave model is built, and a ship dynamics model of the target ship in nonlinear motion of six degrees of freedom is determined, wherein the wave model is used for representing the wave motion of the sea level of the simulated target ship; generating a target simulated wave according to the wave model, and simulating the target ship according to the ship dynamics model and the simulated wave to obtain the pose of the target ship with six degrees of freedom under the simulated wave; according to the pose of the target ship, determining motion response and compensation quantity by adopting CFD, and determining control parameters according to the motion response and the compensation quantity; and executing wave compensation control processing of the target ship according to the control parameters. The beneficial effects of the invention are as follows: the CFD-based simulation method for the six-degree-of-freedom wave compensation system of the wave model and the ship reduces the cost of wave motion compensation research and improves the accuracy of simulation technology; meanwhile, based on analysis of dynamic coupling response characteristics of the ship under complex sea conditions, the multi-dimensional active optimal compensation effect of the wave compensation system can be achieved by adopting a combined optimization control technology of a mechanical and electrical control multi-domain system.
The embodiment of the invention also provides electronic equipment, which comprises a processor and a memory;
the memory stores a program;
the processor executes a program to execute the ship wave simulation and compensation control simulation method; the electronic equipment has the function of carrying and running the software system for the ship wave simulation and compensation control simulation provided by the embodiment of the invention, such as a computer and the like.
The embodiment of the invention also provides a computer readable storage medium, wherein the storage medium stores a program, and the program is executed by a processor to realize the ship wave simulation and compensation control simulation method.
In some alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flowcharts of the present invention are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed, and in which sub-operations described as part of a larger operation are performed independently.
Embodiments of the present invention also disclose a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device may read the computer instructions from the computer readable storage medium and execute the computer instructions to cause the computer device to perform the vessel wave simulation and compensation control simulation method described previously.
Furthermore, while the invention is described in the context of functional modules, it should be appreciated that, unless otherwise indicated, one or more of the described functions and/or features may be integrated in a single physical device and/or software module or one or more functions and/or features may be implemented in separate physical devices or software modules. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary to an understanding of the present invention. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be apparent to those skilled in the art from consideration of their attributes, functions and internal relationships. Accordingly, one of ordinary skill in the art can implement the invention as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative and are not intended to be limiting upon the scope of the invention, which is to be defined in the appended claims and their full scope of equivalents.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the embodiments described above, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are included in the scope of the present invention as defined in the appended claims.
Claims (10)
1. The ship wave simulation and compensation control simulation method is characterized by comprising the following steps of:
according to the ship wave simulation and compensation control simulation request, establishing a wave model, and determining a ship dynamics model of nonlinear motion of the target ship in six degrees of freedom, wherein the wave model is used for representing wave motion of the sea level of the simulated target ship;
generating a target simulated wave according to the wave model, and simulating the target ship according to the ship dynamics model and the simulated wave to obtain the pose of the target ship with six degrees of freedom under the simulated wave;
according to the pose of the target ship, determining motion response and compensation quantity by adopting CFD, and determining control parameters according to the motion response and the compensation quantity;
and executing wave compensation control processing of the target ship according to the control parameters.
2. The method for simulating wave simulation and compensation control of a vessel according to claim 1, wherein the determining a wave model based on the request for simulating wave simulation and compensation control of a vessel comprises:
determining the wave model by using zeta (t) function of Longuet-Higgins model sea level fixed point, wherein
Wherein ε is i Is the initial phase epsilon of the ith harmonic of the sea level wave i Is a random variable, and ε i At [0,2 pi ]]Uniformly distributed in the range; omega i Is the angular frequency of sea level waves, byDetermining, wherein omega m ＝0.2rad/s，ω M ＝2.5rad/s，ζ ai Is the amplitude of the ith harmonic, wherein the sea level wave is a binary irregular wave.
3. The ship wave simulation and compensation control simulation method according to claim 1, wherein determining a ship dynamics model of the nonlinear motion of the target ship in six degrees of freedom according to the ship wave simulation and compensation control simulation request comprises:
determining a relationship of the target vessel in six degrees of freedom, includingFurther obtain
Wherein the method comprises the steps ofRepresenting the relation between the velocity vector of the ship in the follow-up coordinate system and the velocity vector in the fixed coordinate system,/v>Representing the relationship between the ship speed and the position in the following coordinate system and the fixed coordinate system,/->The angle relation between the ship follow-up coordinate system and the fixed coordinate system is represented; wherein eta is E R 3 ×S 3 ，ν∈R 6 The method comprises the steps of carrying out a first treatment on the surface of the Wherein->Is that
Wherein alpha, beta and gamma are rotation angles of the ship moving relative to an x axis, a y axis and a z axis under a fixed coordinate system;
determining an attitude rotation matrix T according to the rotation angle corresponding to the ship follow-up coordinate system to the fixed coordinate system of the target ship θ (θ) is
And determining a ship dynamics model of the nonlinear motion of the target ship in six degrees of freedom through the relation of the six degrees of freedom and the attitude rotation matrix.
4. The method for simulating and compensating for a ship wave according to claim 3, wherein generating a target simulated wave according to the wave model, and simulating the target ship according to the ship dynamics model and the simulated wave to obtain a pose of the target ship with six degrees of freedom under the simulated wave, comprises:
determining six-degree-of-freedom nonlinear motion of target ship as by CFD simulation
Wherein M is the inertial matrix of the system, m=m rb +M A ；
C (v) is a coriolis matrix, with C (v) =c rb (v)+C A (v)，C rb (v)、C A (v) Coriolis Li Juzhen, g (n) is force and moment caused by gravity/buoyancy, D (v) is matrix of damping coefficient, g 0 For balancing the force of ballast water, r is the thrust and moment of a target ship propeller, and omega is the external environment and external force;
determining a wave-wave coupling model according to wave theory, fluid motion continuity and momentum conservation theory, and constructing a numerical wave water tank accurate target wave according to the coupling model and by adopting a numerical wave generation method and a damping wave elimination method
Generating target waves according to the wave model, a numerical wave generation method and a damping wave elimination method;
and solving the pose of the deep sea resource exploration ship under the influence of random waves by adopting a CFD solving result according to the target waves and the six-degree-of-freedom nonlinear motion of the target ship.
5. The method for simulating wave simulation and compensation control of a vessel according to claim 4, wherein determining a motion response and a compensation amount by CFD according to the pose of a target vessel, determining a control parameter according to the motion response and the compensation amount, comprises:
the method comprises the steps that a wave compensation platform is adopted to simulate the pose of a target ship, a translation coordinate rotation matrix and a rotation coordinate transformation matrix are determined according to the pose, and a total transformation matrix from a static coordinate system to a dynamic coordinate system is determined according to the translation coordinate rotation matrix and the rotation coordinate transformation matrix, wherein the wave compensation platform comprises a static platform and a dynamic platform which are connected through hydraulic cylinder supporting legs, the hydraulic cylinder supporting legs are provided with corresponding hinge points with the static platform or the dynamic platform, the static coordinate system represents the coordinate system of the static platform, and the dynamic coordinate system represents the coordinate system of the dynamic platform;
according to the coordinates of the movable platform hinge points in the movable coordinate system and according to the total transformation matrix, determining the coordinate positions of the movable platform hinge points in the static coordinate system;
and determining the length of the hydraulic cylinder supporting leg by adopting inverse solution according to the coordinate position of the hinge point of the static platform in the static coordinate system, the total transformation matrix and the coordinate of the hinge point of the movable platform in the coordinate position of the movable coordinate system.
6. The method for simulating wave simulation and compensation control of a vessel of claim 5, further comprising:
establishing independent entity models of a static platform, a movable platform, a static platform hinge point, a movable platform hinge point and a hydraulic cylinder supporting leg in the wave compensation platform to obtain a wave compensation platform model, wherein the independent entity models are not in constraint fit;
generating a working environment, a kinematic pair and a load for the wave compensation platform model;
and simulating driving and compensation influenced by the motion of the wave model through a wave compensation platform model by adopting a driving function so as to simulate the compensation control process of the target ship under the action of sea level waves.
7. The method for marine wave simulation and compensation control simulation according to claim 6, wherein the method further comprises:
the hydrodynamic characteristic data and cloud pictures of each simulation process of the wave compensation platform model are collected;
and (3) carrying out multiple simulation by setting sea conditions and operation conditions simulated by different wave models to obtain the response speed, compensation effect and stability of the ship wave simulation.
8. A marine wave simulation and compensation control simulation device, comprising:
the system comprises a first module, a second module and a third module, wherein the first module is used for establishing a wave model according to a ship wave simulation and compensation control simulation request and determining a ship dynamics model of nonlinear motion of a target ship in six degrees of freedom, and the wave model is used for representing wave motion of a sea level where the simulated target ship is located;
the second module is used for generating a target simulated wave according to the wave model, and simulating the target ship according to the ship dynamics model and the simulated wave to obtain the pose of the target ship with six degrees of freedom under the simulated wave;
the third module is used for determining motion response and compensation quantity by adopting CFD according to the pose of the target ship, and determining control parameters according to the motion response and the compensation quantity;
and a fourth module for executing wave compensation control processing of the target ship according to the control parameters.
9. An electronic device comprising a processor and a memory;
the memory is used for storing programs;
the processor executes the program to implement the ship wave simulation and compensation control simulation method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium stores a program that is executed by a processor to implement the ship wave simulation and compensation control simulation method according to any one of claims 1-7.
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