Ship marine collision confrontation semi-physical simulation system

Abstract

The invention discloses a ship seaborne collision confrontation semi-physical simulation system, and relates to the technical field of simulation, the semi-physical simulation system comprises a simulation host, an impact ship simulation system and a collided ship simulation system, the impact ship simulation system and the collided ship simulation system are respectively connected with the simulation host, and an operator can simulate the ship seaborne collision confrontation through the impact ship simulation system and the collided ship simulation system. According to the invention, the system simulates ship collision and collided ship driving, thereby carrying out chasing and collision simulation, and has the prominent advantage that people are in the loop, and the simulation host is internally provided with a collision confrontation core solver formed through a theoretical evaluation method, an empirical formula, an agent model and other methods. By combining with a two-ship simulation system, a sea collision complete process simulation method of two-ship control navigation before collision, multi-dimensional impact feedback presentation at the moment of collision, damage evaluation after collision and the like can be realized, a battlefield environment can be really simulated, a ship collision effect can be accurately evaluated, and the ship collision simulation system has the characteristics of strong immersion and strong interactivity; the ship marine collision confrontation training platform can be used for training marine law enforcement officers.

Description

Technical Field

[0001] The present application relates to the field of simulation technology, and in particular to a semi-physical simulation system for ship collision confrontation at sea. Background Art

[0002] The 21st century is the century of the ocean. With the exploration and development of marine resources by various countries, the situation of maritime rights protection and law enforcement is becoming increasingly severe. Compared with the use of lethal weapons to attack, the use of ship pushing and collision tactics is moderate in intensity, which can not only give the enemy enough deterrence but also avoid escalating or seriously deteriorating the situation. It can control the overall situation while maintaining national rights and interests. Therefore, it is a common tactical means for ships or official vessels to use collision tactics to protect rights and enforce the law at sea.

[0003] However, there is currently a lack of effective training methods for ship collision confrontations at sea, as well as a lack of methods for predicting and evaluating the effects of collision tactics. When facing actual collision needs and risks at sea, the captain's command experience is the only thing that matters, which seriously affects the effectiveness of ship collision operations. Summary of the invention

[0004] In view of the above problems and technical requirements, this application proposes a semi-physical simulation system for ship-at-sea collision confrontation. The technical solution of this application is as follows:

[0005] A semi-physical simulation system for ship-on-sea collision confrontation, characterized in that the semi-physical simulation system for ship-on-sea collision confrontation comprises a simulation host and a collision ship simulation system and a collision ship simulation system respectively connected thereto, the collision ship simulation system comprises a collision ship control panel and a collision ship display panel, and the collision ship simulation system comprises a collision ship control panel, a collision ship display panel and a motion sensing platform;

[0006] The simulation host establishes the hull geometric models of the striking ship and the struck ship respectively, and establishes the marine environment models of the sea areas where the striking ship and the struck ship are located, and creates a simulation scene of ship collision confrontation at sea and displays it through the striking ship display station and the struck ship display station respectively;

[0007] The operator of the striking ship inputs the operating parameters of the striking ship to the simulation host through the operating console of the striking ship, and the operator of the struck ship inputs the operating parameters of the struck ship to the simulation host through the operating console of the struck ship at the motion sensing platform;

[0008] The simulation host obtains the motion state parameters of the striking ship using the striking ship manipulation motion model according to the striking ship manipulation parameters, and obtains the motion state parameters of the struck ship using the struck ship manipulation motion model according to the struck ship manipulation parameters; the simulation host also updates the position and posture of the hull geometric model of the striking ship in the ship-at-sea collision confrontation simulation scenario according to the striking ship motion state parameters, and updates the position and posture of the hull geometric model of the striking ship in the ship-at-sea collision confrontation simulation scenario according to the struck ship motion state parameters;

[0009] When the simulation host detects that the striking ship and the struck ship collide based on the motion state parameters of the striking ship and the motion state parameters of the struck ship, the simulation host determines the collision parameters based on the motion state parameters of the striking ship and the motion state parameters of the struck ship, estimates the collision damage result of the struck ship based on the collision parameters and displays it through the striker display unit, updates the posture of the hull geometric model of the striker in the ship-at-sea collision confrontation simulation scenario based on the collision parameters, and controls the motion sensing platform to move based on the collision parameters to provide impact feedback to the striker operator.

[0010] A further technical solution is that the collision ship simulation system also includes an audio system, which controls the motion sensing platform to move according to the collision parameters to provide impact feedback to the operator of the collision ship, including:

[0011] A collision feedback proxy model is used to output impact feedback parameters according to collision parameters, and the impact feedback parameters include impact motion response parameters and impact sound parameters. The motion perception platform is controlled to move according to the impact motion response parameters to provide physical impact feedback to the operator of the collided ship, and the sound system is controlled to output collision sound effects according to the impact sound parameters to provide auditory impact feedback to the operator of the collided ship. The collision feedback proxy model is trained based on the impact feedback parameters under different collision parameters.

[0012] A further technical solution is that the collision parameters include the relative motion speed of the striking ship and the struck ship, the collision angle of the striking ship to the struck ship, and the position of the collision point determined according to the motion state parameters of the striking ship and the struck ship; the collision damage result of the struck ship estimated according to the collision parameters includes:

[0013] According to the mass of the striking ship and the struck ship and the relative speed at the time of collision, the structural damage energy E of the struck ship during the collision is calculated by the momentum theorem and the law of conservation of energy. dam ;

[0014] Determine the location of the struck structure of the struck ship according to the collision angle of the striking ship and the location of the collision point;

[0015] According to the bow form of the striking ship and the position of the struck structure of the struck ship, the energy absorption depth curve of the struck ship is obtained by using the upper limit theorem of plastic mechanics. The energy absorption depth curve indicates the absorbed energy of the struck ship under different collision deformation displacements δ.

[0016] According to the energy absorption impact depth curve, the absorbed energy is equal to the structural damage energy E dam The collision deformation displacement δ corresponding to the collision is obtained, and the collision damage result of the struck ship is obtained according to the collision deformation displacement δ. The collision damage result includes the size of the impact gap, the size of the plastic deformation and the deformation mode.

[0017] A further technical solution is to obtain the energy absorption depth curve of the struck ship including:

[0018] Determine an impact mechanics model that matches the bow form of the striking ship and each struck structure position of the struck ship, and obtain a resistance displacement curve of the struck ship when it is collided with the striking ship at the current struck structure position based on each impact mechanics model according to the upper limit theorem of plastic mechanics. The resistance displacement curve indicates the resistance of the struck ship when it is subjected to different collision deformation displacements δ at the current struck structure position;

[0019] The total resistance displacement curve of the struck ship is obtained by calculating the sum of the resistance displacement curves of the struck ship at multiple struck structure positions by the superposition method. The total resistance displacement curve indicates the total resistance of the struck ship under different collision deformation displacements δ.

[0020] The energy absorption depth curve of the struck ship is obtained by curve integration of the total resistance displacement curve.

[0021] A further technical solution is to determine the resistance displacement curve of the struck ship at each struck structure position when the struck ship is hit by the striking ship, including:

[0022] Calculate the structural energy dissipation rate of the struck ship during the collision process at the current struck structure position Among them, σ 0 is the plastic flow stress of the material at the current impacted structure position of the impacted ship, is the equivalent strain rate of deformation of the current struck structure position of the struck ship, V is the volume of the current struck structure position of the struck ship;

[0023] According to the upper limit theorem of plastic mechanics, the power of the work done by the resistance force F(δ) of the struck ship during the collision is determined Equal to the energy dissipation rate of the struck ship structure And get the resistance displacement curve of the struck ship when it is hit by the striking ship at the current struck structure position

[0024] A further technical solution is that the bow form of the striking ship includes any one of a wedge-shaped bow, a wedge-shaped bow with rounded corners and a bulbous bow, the struck structure position of the struck ship includes at least one of an outer plate, a deck, a bulkhead and a girder, and when there is at least one difference between the bow form of the striking ship and the struck structure position of the struck ship, the impact mechanics model matching the bow form of the striking ship and each struck structure position of the struck ship is different.

[0025] A further technical solution is that the simulation host also constructs a corresponding damage image in the damage image database using an interpolation method according to the collision damage result, and displays the damage image through a display station of the struck ship.

[0026] Its further technical solution is that the simulation host also uses a damaged hull stability calculation model to output the residual stability of the collided ship according to the collision damage results, and uses a damaged hull residual strength calculation model to output the residual strength of the collided ship according to the collision damage results; wherein, the damaged hull stability calculation model is a proxy model obtained by training with a stability calculation verification method combined with sample data of ships with different damaged conditions, and the damaged hull residual strength calculation model is a proxy model obtained by training with a Smith method combined with sample data of ships with different damaged conditions.

[0027] A further technical solution is that the simulation host also comprehensively considers the collision damage results, residual stability and residual strength of the struck ship and uses a damage tree method to gradually determine the total damage degree of the struck ship and the damage degree of each structural area.

[0028] A further technical solution is that the simulation host displays the total damage degree and the damage degree of each structural area of ​​the struck ship by superimposing the hull geometric model of the struck ship through the struck ship display station.

[0029] The beneficial technical effects of this application are:

[0030] The present application discloses a semi-physical simulation system for ship collision confrontation at sea. The system is based on the background of two-ship collision confrontation at sea, and is established in combination with a simulation host and hardware such as a striking ship simulation system and a struck ship simulation system. Operators can simulate the driving of striking ships and struck ships through the striking ship simulation system and the struck ship simulation system, thereby carrying out chasing and collision simulations. The system has the outstanding advantage of man-in-the-loop, and the simulation host has a built-in collision confrontation core solver formed by theoretical evaluation methods, empirical formulas, proxy models and other methods. Combined with the two-ship simulation system, the system can realize the complete process simulation methods of the maritime collision, such as the maneuvering and navigation of the two ships before the collision, the multi-dimensional presentation of the impact feedback at the moment of the collision, and the damage evaluation after the collision, forming a semi-physical simulation system that can truly simulate the battlefield environment and accurately evaluate the aftereffects of the ship collision. The system has the characteristics of strong immersion and interactivity, can simulate the battlefield environment more realistically, and can be used as a ship collision confrontation training platform for maritime law enforcement personnel training.

[0031] The simulation host can simulate complex ocean environments such as wind, waves, and currents, and the evaluation models integrated in the built-in collision confrontation core solver are all supported by corresponding physical or data methods, which can realize real-time solution of the motion postures of the two ships during the entire collision process, track planning and control calculation of the two ships before the collision, damage prediction and vulnerability assessment after the collision, and impact perception calculation of the struck ship at the moment of collision. The system can be used to carry out simulation training multiple times to obtain the structural damage of the struck ship, the impact of personnel and equipment, and the comprehensive performance of the struck ship under different collision inputs, and build a ship collision damage database. We can further find weak links to guide the collision resistance design of ship structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the system structure of a semi-physical simulation system for ship collision confrontation at sea according to an embodiment of the present application.

[0033] Figure 2 It is a flow chart of a semi-physical simulation system for ship-at-sea collision confrontation to realize ship-at-sea collision confrontation simulation in one embodiment of the present application. DETAILED DESCRIPTION

[0034] The specific implementation of the present application is further described below in conjunction with the accompanying drawings.

[0035] The present application discloses a semi-physical simulation system for ship collision confrontation at sea, which comprises a collision ship simulation system 1, a collision ship simulation system 2 and a simulation host 3. The collision ship simulation system 1 and the collision ship simulation system 2 are designed separately, please refer to Figure 1 The system architecture diagram shown:

[0036] The striking ship simulation system 1 includes a striking ship control panel 11 and a striking ship display panel 12. The struck ship simulation system 2 includes a struck ship control panel 21, a struck ship display panel 22 and a motion sensing platform 23. The striking ship control panel 11 and the struck ship control panel 21 respectively include ship control equipment, including a steering console, a car clock and a navigation insurance console. The striking ship display panel 12 and the struck ship display panel 22 are respectively used to provide display functions, each display panel includes an instrument display screen, an information display screen, an ECDIS display screen (chart), a radar display screen, and an AIS identification system.

[0037] The collision simulation system 2 also includes a motion sensing platform 23, which provides somatosensory feedback to the operator of the collision through multi-degree-of-freedom motion, and the motion sensing platform 23 can be implemented as at least one of a motion seat and a standing motion platform. When the motion sensing platform 23 is implemented as a motion seat, the motion sensing platform 23 is used to provide somatosensory feedback to the operator of the collision in a sitting state. When the motion sensing platform 23 is implemented as a standing motion platform, the motion sensing platform 23 is used to provide somatosensory feedback to the operator of the collision in a standing state.

[0038] The simulation host 3 is connected to the colliding ship simulation system 1 and the collided ship simulation system 2 respectively, and the simulation host 3 is used to provide various computing and control functions. Specifically, the simulation host 3 includes a central control system, a centralized data server, and a collision confrontation core solver. The central control system exchanges and communicates data with the collision confrontation core solver, the colliding ship simulation system 1, and the collided ship simulation system 2 through the centralized data server. The central control system calls the collision confrontation core solver to perform various computing and solving functions in the process of ship maritime collision confrontation simulation. The simulation host 3 will be described as a whole in the following.

[0039] The ship-at-sea collision confrontation semi-physical simulation system realizes the ship-at-sea collision confrontation simulation process as follows. Please refer to Figure 2 The process diagram shown is:

[0040] Step 1, the simulation host 3 establishes the hull geometric models of the striking ship and the struck ship respectively, and establishes the marine environment model of the sea area where the striking ship and the struck ship are located, creates a simulation scene of ship collision confrontation at sea and displays it through the striking ship display station 12 and the struck ship display station 22 respectively.

[0041] The ocean environment model created by the simulation host 3 includes the seabed topography, sea state level, marine obstacles, surrounding land environment and marine weather environment. It can be created by importing relevant resource packages using the Asset store in Unity, and then the hull geometry model of the impacting ship and the hull geometry model of the impacted ship are imported into Unity, and the initial positions of the impacting ship and the impacted ship and the distance between the two ships are initialized. In practice, the distance between the two ships is generally initialized to 2km.

[0042] Step 2, the operator of the striking ship inputs the striking ship control parameters to the simulation host 3 through the striking ship control panel 11, and the operator of the struck ship inputs the struck ship control parameters to the simulation host through the struck ship control panel 21 at the motion sensing platform 23. Each set of control parameters in the striking ship control parameters and the struck ship control parameters includes the speed input through the car clock of the control panel and the heading input through the steering console of the control panel. In addition, the striking ship control panel 11 can also have a built-in path planning method, which combines the active ship collision algorithm to realize the track planning of the striking ship, so as to realize the chasing of the struck ship by the striking ship.

[0043] Step 3, the simulation host obtains the motion state parameters of the striking ship using the striking ship manipulation motion model according to the striking ship manipulation parameters, and obtains the motion state parameters of the struck ship using the struck ship manipulation motion model according to the struck ship manipulation parameters. The simulation host also updates the posture of the hull geometric model of the striking ship in the ship-at-sea collision confrontation simulation scenario according to the striking ship motion state parameters, and updates the posture of the hull geometric model of the striking ship in the ship-at-sea collision confrontation simulation scenario according to the struck ship motion state parameters.

[0044] The maneuvering motion model of the striking ship and the maneuvering motion model of the struck ship are respectively six-degree-of-freedom maneuvering motion equations for ship motion in a complex ocean environment established based on the hydrodynamic equations and ship motion influencing parameters such as wind speed, waves, ocean currents, and the relative distance between the two ships. The form of the existing maneuvering motion model can be referred to and will not be repeated here.

[0045] The ship's motion state parameters can be obtained by combining the ship's maneuvering motion model with the maneuvering parameters. The motion state parameters include real-time position and six-degree-of-freedom state. Then, the position and posture of the hull geometry model of the corresponding ship in the ship-at-sea collision confrontation simulation scenario can be updated according to the ship's motion state parameters.

[0046] In addition, the simulation host will also display the position, speed and heading of the striking ship on the instrument display screen on the top of the striking ship display station 12, and display the position, speed and heading of the struck ship on the radar display screen and the electronic chart. Similarly, the simulation host will also display the position, speed and heading of the struck ship on the instrument display screen on the top of the struck ship display station 22, and display the position, speed and heading of the striking ship on the radar display screen and the electronic chart.

[0047] Step 4: When the simulation host detects that the striking ship and the struck ship collide according to the motion state parameters of the striking ship and the motion state parameters of the struck ship, it determines the collision parameters according to the motion state parameters of the striking ship and the motion state parameters of the struck ship.

[0048] The collision parameters determined according to the motion state parameters of the striking ship and the struck ship include the relative motion speed of the striking ship and the struck ship, the collision angle of the striking ship to the struck ship, and the position of the collision point. When the geometric structures of the striking ship and the struck ship are known, whether the striking ship and the struck ship collide and the position of the collision point can be detected according to the real-time positions of the striking ship and the struck ship. The relative motion speed and collision angle of the two ships can be determined according to the postures of the striking ship and the struck ship. The specific solution method will not be described in detail in this application.

[0049] Then the simulation host can implement collision resolution based on the collision parameters by calling the built-in collision confrontation core solver, including the following aspects:

[0050] 1. The collision damage result of the struck ship is estimated based on the collision parameters and displayed on the strike ship display station.

[0051] The core solver of the collision resistance of this application has a built-in damage prediction model, which can be used to estimate the collision damage results based on the collision parameters. The damage prediction model estimates the collision damage results based on the upper limit theorem of plastic mechanics, including:

[0052] (1) First, according to the mass of the striking ship and the struck ship and the relative speed at the time of collision, the structural damage energy E of the struck ship during the collision is calculated by the momentum theorem and the law of conservation of energy. dam .

[0053] (2) The impacted structure position of the struck ship can be determined based on the collision angle of the striking ship and the collision point. The impacted structure position of the struck ship includes at least one of the outer plate, deck, bulkhead and girder. When an actual collision occurs, the struck ship usually has multiple impacted structure positions.

[0054] (3) According to the bow form of the striking ship and the position of the struck structure of the struck ship, the energy absorption depth curve of the struck ship is obtained by using the upper limit theorem of plastic mechanics. The energy absorption depth curve indicates the absorbed energy of the struck ship under different collision deformation displacements δ. The method for obtaining the energy absorption depth curve of the struck ship includes:

[0055] In practice, the striking ship has different bow forms, including any one of a wedge-shaped bow, a wedge-shaped bow with rounded corners, and a bulbous bow. Different bow forms bring different impacts to different struck structure positions. If the traditional damage prediction model is directly used for prediction, the accuracy is not high. Therefore, in this embodiment, the impact mechanics model matching the bow form of the striking ship and each struck structure position of the struck ship is first determined. When there is at least one difference between the bow form of the striking ship and the struck structure position of the struck ship, the impact mechanics model matching the bow form of the striking ship and each struck structure position of the struck ship is different.

[0056] Then, according to the upper limit theorem of plastic mechanics and based on each impact mechanics model, the resistance displacement curve of the struck ship when it is hit by the striking ship at the current struck structure position is obtained, including:

[0057] Calculate the structural energy dissipation rate of the struck ship during the collision process at the current struck structure position

[0058]

[0059] Among them, σ 0 is the plastic flow stress of the material at the current impacted structure position of the impacted ship, It is the equivalent strain rate of the deformation of the current impacted structure of the impacted ship, which can be solved by derivation of the collision deformation displacement δ. V is the volume of the current impacted structure of the impacted ship.

[0060] According to the upper limit theorem of plastic mechanics, the power of the work done by the resistance force F(δ) of the struck ship during the collision is determined Equal to the energy dissipation rate of the struck ship structure Thus, the resistance displacement curve of the struck ship when it is hit by the striking ship at the current struck structure position can be obtained. The obtained resistance displacement curve indicates the resistance of the struck ship when it is subjected to different collision deformation displacements δ at the current struck structure position.

[0061] The superposition method is further used to calculate the sum of the resistance displacement curves of the struck ship at multiple struck structure positions when the struck ship is collided with the impacting ship to obtain the total resistance displacement curve of the struck ship. The total resistance displacement curve indicates the total resistance of the struck ship under different collision deformation displacements δ. Finally, the total resistance displacement curve is integrated to obtain the energy absorption depth curve of the struck ship.

[0062] (4) Finally, according to the energy absorption impact depth curve, it is determined that when the absorbed energy is equal to the structural damage energy E dam The corresponding collision deformation displacement δ.

[0063] (5) Then, the collision damage result of the struck ship can be further obtained according to the collision deformation displacement δ. The collision damage result includes the size of the impact breach, the size of the plastic deformation and the deformation mode. The method for obtaining the collision damage result from the collision deformation displacement δ can refer to the existing method.

[0064] After obtaining the collision damage results, the simulation host will also use the interpolation method to construct the corresponding damage image in the damage image database based on the collision damage results, and display the damage image through the display station of the collided ship.

[0065] In addition, the core solver of collision resistance also has built-in damaged hull stability calculation model and damaged hull residual strength calculation model. The damaged hull stability calculation model is a proxy model trained by using the stability calculation verification method combined with sample data of ships with different damaged working conditions, and the damaged hull residual strength calculation model is a proxy model trained by using the Smith method combined with sample data of ships with different damaged working conditions. After obtaining the collision damage results, the simulation host further uses the damaged hull stability calculation model to output the residual stability of the collided ship according to the collision damage results, and uses the damaged hull residual strength calculation model to output the residual strength of the collided ship according to the collision damage results.

[0066] Finally, the simulation host will also comprehensively analyze the collision damage results, residual stability and residual strength of the struck ship, and use the damage tree method to gradually determine the total damage degree of the struck ship and the damage degree of each structural area. The simulation host will also display the total damage degree of the struck ship and the damage degree of each structural area on the hull geometric model of the struck ship through the struck ship display station, such as using different flashing color blocks for the whole ship and each area to represent the damage degree. The common use of red, pink, yellow and green corresponds to severe, moderate, mild and general damage degrees, so that the collision effect can be intuitively displayed from the data.

[0067] If the simulation effect is not ideal, the above process can be repeated to adjust the maneuvering parameters of the impacting ship and simulate again. By conducting simulation training multiple times, the damage degree of the impacted ship under different collision parameters can be obtained, and a ship collision damage database can be constructed. Further, weak links can be found to guide the collision resistance design of ship structures.

[0068] 2. Update the posture of the geometric model of the hull of the collided ship in the ship-at-sea collision confrontation simulation scenario according to the collision parameters, and control the motion sensing platform to move according to the collision parameters to provide impact feedback to the operator of the collided ship. In addition, the collision simulation system also includes an audio system, and the simulation host will also control the audio system to output collision sound effects according to the collision parameters to provide impact feedback to the operator of the collided ship. Thus, at the moment of collision, the operator of the collided ship is provided with impact feedback through three different aspects: picture, sound and body sensation.

[0069] Among them, a pre-trained collision feedback agent model is used to output impact feedback parameters according to collision parameters, and the impact feedback parameters include impact motion response parameters and impact sound parameters. Then, the motion perception platform is controlled to move according to the impact motion response parameters to provide physical impact feedback to the operator of the struck ship, and the sound system is controlled to output collision sound effects according to the impact sound parameters to provide auditory impact feedback to the operator of the struck ship. The collision feedback agent model used here is trained based on impact feedback parameters under different collision parameters, and these impact feedback parameters under different collision parameters can be obtained from real ship data, simulation data, or theoretical calculation data.

[0070] As mentioned above, when estimating the collision damage result of the struck ship based on the collision parameters, the collision deformation displacement δ and the total resistance received by the struck ship under the collision deformation displacement δ can be calculated. According to the interaction of forces, it can be known that the total resistance received by the struck ship is equal to the impact force exerted by the striking ship. The torque can be obtained from the impact force. Combined with the stability parameters of the struck ship, the roll angle of the struck ship when it is hit can be calculated, thereby updating the posture of the hull geometric model of the struck ship and presenting the tilted posture of the struck ship.

[0071] The above are only preferred embodiments of the present application, and the present application is not limited to the above embodiments. It is understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present application should be considered to be included in the protection scope of the present application.

Claims

1. A semi-physical simulation system for ship collision at sea, characterized in that: The semi-physical simulation system for ship-on-sea collision confrontation includes a simulation host and a collision ship simulation system and a collision ship simulation system connected thereto, respectively. The collision ship simulation system includes a collision ship control panel and a collision ship display panel, and the collision ship simulation system includes a collision ship control panel, a collision ship display panel and a motion sensing platform. The simulation host establishes the hull geometric models of the striking ship and the struck ship respectively, and establishes the marine environment models of the sea areas where the striking ship and the struck ship are located, and creates a simulation scene of ship collision confrontation at sea and displays it through the striking ship display station and the struck ship display station respectively; The operator of the striking ship inputs the operating parameters of the striking ship to the simulation host through the operating console of the striking ship, and the operator of the struck ship inputs the operating parameters of the struck ship to the simulation host through the operating console of the struck ship at the motion sensing platform; The simulation host obtains the motion state parameters of the striking ship by using the striking ship manipulation motion model according to the manipulation parameters of the striking ship, and obtains the motion state parameters of the struck ship by using the struck ship manipulation motion model according to the manipulation parameters of the struck ship; The simulation host also updates the position and posture of the hull geometric model of the striking ship in the ship-at-sea collision confrontation simulation scenario according to the motion state parameters of the striking ship, and updates the position and posture of the hull geometric model of the striking ship in the ship-at-sea collision confrontation simulation scenario according to the motion state parameters of the struck ship; When the simulation host detects that the striking ship and the struck ship collide based on the motion state parameters of the striking ship and the motion state parameters of the struck ship, the simulation host determines the collision parameters based on the motion state parameters of the striking ship and the motion state parameters of the struck ship, estimates the collision damage result of the struck ship based on the collision parameters and displays it through the display station of the struck ship, updates the posture of the hull geometric model of the struck ship in the simulation scenario of ship-to-sea collision confrontation based on the collision parameters, and controls the motion sensing platform to move based on the collision parameters to provide impact feedback to the operator of the struck ship.

2. The semi-physical simulation system for ship collision confrontation at sea according to claim 1 is characterized in that: The collision ship simulation system also includes an audio system, and the controlling of the motion sensing platform to move according to the collision parameters to provide impact feedback to the collision ship operator includes: A collision feedback proxy model is used to output impact feedback parameters according to the collision parameters, wherein the impact feedback parameters include impact motion response parameters and impact sound parameters; a motion perception platform is controlled to move according to the impact motion response parameters to provide physical impact feedback to the operator of the struck ship, and an audio system is controlled to output collision sound effects according to the impact sound parameters to provide auditory impact feedback to the operator of the struck ship; wherein the collision feedback proxy model is trained based on the impact feedback parameters under different collision parameters.

3. The semi-physical simulation system for ship collision confrontation at sea according to claim 1 is characterized in that: The collision parameters include the relative motion speed of the striking ship and the struck ship, the collision angle of the striking ship to the struck ship, and the position of the collision point determined according to the motion state parameters of the striking ship and the motion state parameters of the struck ship; The collision damage result of the struck ship is estimated according to the collision parameters, including: According to the mass of the striking ship and the struck ship and the relative speed at the time of collision, the structural damage energy E of the struck ship during the collision is calculated by the momentum theorem and the law of conservation of energy. dam ; Determine the location of the struck structure of the struck ship according to the collision angle of the striking ship and the location of the collision point; According to the bow form of the striking ship and the position of the struck structure of the struck ship, the energy absorption depth curve of the struck ship is obtained by using the upper limit theorem of plastic mechanics. The energy absorption depth curve indicates the absorbed energy of the struck ship under different collision deformation displacements δ. According to the energy absorption impact depth curve, the absorbed energy is equal to the structural damage energy E dam The collision deformation displacement δ corresponding to the collision is obtained, and the collision damage result of the struck ship is obtained according to the collision deformation displacement δ, and the collision damage result includes the impact crack size, plastic deformation size and deformation mode.

4. The semi-physical simulation system for ship collision confrontation at sea according to claim 3 is characterized in that: The energy absorption depth curve of the struck ship includes: Determine an impact mechanics model that matches the bow form of the striking ship and each struck structure position of the struck ship, and obtain a resistance displacement curve of the struck ship when the struck ship is hit by the striking ship at the current struck structure position based on each impact mechanics model according to the upper limit theorem of plastic mechanics, wherein the resistance displacement curve indicates the resistance of the struck ship when it is subjected to different collision deformation displacements δ at the current struck structure position; The total resistance displacement curve of the struck ship is obtained by calculating the sum of the resistance displacement curves of the struck ship at multiple struck structure positions by the superposition method. The total resistance displacement curve indicates the total resistance of the struck ship under different collision deformation displacements δ. The energy absorption depth curve of the struck ship is obtained by curve integration of the total resistance displacement curve.

5. The semi-physical simulation system for ship collision confrontation at sea according to claim 4 is characterized in that: Determining the resistance displacement curve of the struck ship when it is hit by the striking ship at each struck structure position includes: Calculate the structural energy dissipation rate of the struck ship during the collision process at the current struck structure position by the striking ship Among them, σ0 is the material plastic flow stress at the current impacted structure position of the impacted ship, is the equivalent strain rate of deformation of the current struck structure position of the struck ship, V is the volume of the current struck structure position of the struck ship; According to the upper limit theorem of plastic mechanics, the power of the work done by the resistance force F(δ) of the struck ship during the collision is determined Equal to the energy dissipation rate of the struck ship structure And obtain the resistance displacement curve when the struck ship is hit by the striking ship at the current struck structure position 6. The semi-physical simulation system for ship collision confrontation at sea according to claim 4 is characterized in that: The bow form of the striking ship includes any one of a wedge-shaped bow, a wedge-shaped bow with rounded corners and a bulbous bow, the struck structure position of the struck ship includes at least one of an outer plate, a deck, a bulkhead and a girder, and when there is at least one difference between the bow form of the striking ship and the struck structure position of the struck ship, the impact mechanics model matching the bow form of the striking ship and each struck structure position of the struck ship is different.

7. The semi-physical simulation system for ship collision confrontation at sea according to claim 3 is characterized in that: The simulation host also constructs a corresponding damage image in a damage image database using an interpolation method according to the collision damage result, and displays the damage image through the display station of the struck ship.

8. The semi-physical simulation system for ship collision confrontation at sea according to claim 3 is characterized in that: The simulation host also uses a damaged hull stability calculation model to output the residual stability of the struck ship according to the collision damage results, and uses a damaged hull residual strength calculation model to output the residual strength of the struck ship according to the collision damage results; wherein the damaged hull stability calculation model is a proxy model trained by using sample data of ships with different damaged conditions calculated by a stability calculation verification method, and the damaged hull residual strength calculation model is a proxy model trained by using the Smith method combined with sample data of ships with different damaged conditions.

9. The semi-physical simulation system for ship collision confrontation at sea according to claim 8, characterized in that: The simulation host also comprehensively considers the collision damage results, residual stability and residual strength of the struck ship and uses a damage tree method to gradually determine the total damage degree of the struck ship and the damage degree of each structural area.

10. The semi-physical simulation system for ship collision confrontation at sea according to claim 9, characterized in that: The simulation host displays the total damage degree of the struck ship and the damage degree of each structural area by superimposing the hull geometric model of the struck ship through the struck ship display station.

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