Motion mathematical model of cycloidal propeller driven ship for marine simulator

Abstract

The invention relates to a motion mathematical model of a cycloidal propeller driven ship for a marine simulator. The motion mathematical model is realized by the following steps of: obtaining the equivalent pitch ratio of a VSP propeller as well as the percentages of resolutions of the total thrust generated by the VSP propeller in the vertical direction and the lateral direction of a ship body by operating hardware devices (X-Pitch and Y-Pitch), working out the total thrust with the disclosed first-quadrant atlas of the VSP propeller, and obtaining the resolutions (torque) in the vertical direction, lateral direction and yaw by multiplying the percentage of the resolutions by the total thrust; and adding the obtained thrust (torque) as external force to the ship motion equation, obtaining the posture of the VSP ship motion with a forth-ordered Runge-Kutta integration method, and offering the posture to other modules of the marine simulator system. The established VSP-propeller ship motion mathematical model is used in the marine simulator and combined with the hardware devices, so that the human-machine interaction is realized and the ship model databases in the system are diversified.

Description

technical field [0001] The patent of the present invention relates to a motion mathematical model of a ship with a Voith-Schneider Propellor (VSP for short) used in a navigation simulator. Background technique [0002] The flat-rotating propeller is a design patent applied by Voith, also known as a straight blade propeller or a cycloidal propeller. It is a disc propeller equipped with vertical wings. The vertical wings are parallel to each other and the rotation axis of the disc. The blades rotate around their own rotation axis and revolve around the rotation axis of the disc. Generate thrust in any direction, therefore, the flat-rotating propeller also functions as a rudder, which saves space. At the same time, because it can generate thrust that can be changed without changing the direction of rotation of the main engine, flat-rotating propellers are generally used on tugboats in ports and ships that require special handling performance, such as minesweepers (MCMV), ferry...

AI Technical Summary

Problems solved by technology

[0014] In order to solve the problem in the prior art that there is no mathematical model of propeller-driven ship motion suitable for the application of navigation simulators, the present invention combines the published theoretical calculations and tank test results based on the performance of the propeller and the generated thrust and torque. Carry out modeling, realize human-computer interaction by operating hardware devices or simulating soft panels, and develop a motion mathematical model suitable for navigating simulators that use flat-rotating propellers to drive ships, including the determination of the equivalent pitch ratio of flat propellers and the application of related maps, etc. content

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