Method, system, device and medium for maneuvering motion modeling of twin z-propeller tug

Abstract

The application provides a double full-revolution propelling tug steering motion modeling method, comprising the following steps: establishing a fixed space coordinate system and a ship coordinate system with the center of the tug as the coordinate origin; establishing an initial MMG tug steering motion model based on the space coordinate system and the ship coordinate system, and determining the initial hydrodynamic coefficients of the initial MMG tug steering motion model; establishing a physical tug model and an initial tug steering motion simulation model and performing a comparative test, and determining modeling error factors according to the results of the comparative test; determining the target hydrodynamic coefficients of the correction error based on the modeling error factors; and establishing a target tug steering motion model based on the target hydrodynamic coefficients and the initial MMG tug steering motion model. The double full-revolution propelling tug steering motion modeling method provided by the application can improve the modeling precision to ensure the precision of the double full-revolution propelling tug steering prediction.

Description

Technical Field

[0001] This invention relates to the field of ship maneuvering motion modeling technology, specifically to a method, system, equipment, and medium for modeling the maneuvering motion of a double azimuth propulsion tugboat. Background Technology

[0002] In recent years, major shipbuilding nations worldwide have vigorously promoted the research and application of intelligent ships. Azimuth tugboats, with their advantages of small size, powerful engines, flexible operation, fixed working areas, and stable communication environments, have become a hot research topic in the development and application of intelligent ship technology.

[0003] Autonomous motion control technology for tugboats is crucial for realizing intelligent tugboats, and the effectiveness of this control often depends on the accuracy of the ship's kinematic model. However, current modeling studies often neglect the impact of pods on the ship's steering performance, leading to significant discrepancies between the simulation results of the established double-full-turn tugboat maneuvering motion model and actual conditions.

[0004] In summary, existing technologies do not consider the impact of pods on the ship's steering performance when establishing a double full-turn tugboat maneuvering motion model, resulting in large errors in the simulation results. Summary of the Invention

[0005] In view of this, it is necessary to provide a method, system, equipment and medium for modeling the maneuvering motion of a double full-turn propulsion tugboat, so as to solve the problem that the existing technology does not consider the influence of the pod on the ship's steering performance when establishing the maneuvering motion model of a double full-turn tugboat, resulting in large errors in the simulation results.

[0006] To address the aforementioned technical problems, this invention provides, on the one hand, a method for modeling the maneuvering motion of a dual azimuth propulsion tugboat, comprising:

[0007] Establish a fixed geodetic coordinate system in space and a shipborne coordinate system with the tugboat's center as the origin;

[0008] An initial MMG tugboat maneuvering motion model is established based on the geodetic coordinate system and the ship's coordinate system, and the initial hydrodynamic coefficients of the initial MMG tugboat maneuvering motion model are determined based on the initial MMG tugboat maneuvering motion model.

[0009] A physical tugboat model is established, and an initial tugboat maneuvering motion simulation model is established based on the initial hydrodynamic coefficients and the physical tugboat model. A comparative experiment is conducted based on the physical tugboat model and the initial tugboat maneuvering motion simulation model, and the modeling error factors are determined based on the results of the comparative experiment.

[0010] Based on the aforementioned modeling error factors, determine the target hydrodynamic coefficient for error correction;

[0011] A target tugboat maneuvering motion model is established based on the target hydrodynamic coefficient and the initial MMG tugboat maneuvering motion model.

[0012] In some possible implementations, establishing a geodetic coordinate system fixed in space and a shipborne coordinate system with the tugboat's center as the origin includes:

[0013] Establish a geodetic coordinate system O0-x0y0z fixed in space o And the ship's coordinate system O-xyz with the tug's center as the origin;

[0014] In the aforementioned geodetic coordinate system, the O0-x0y0 plane coincides with the still water surface, and the O0z0 axis points vertically downwards.

[0015] In the ship's coordinate system, the Ox axis lies in the mid-longitudinal section of the tugboat, pointing from the stern to the bow; the Oy axis lies in the mid-transverse section of the tugboat, pointing from midship to starboard; and the Oz axis points vertically downwards.

[0016] In some possible implementations, establishing an initial MMG tugboat maneuvering motion model based on the geodetic coordinate system and the ship's coordinate system, and determining the initial hydrodynamic coefficients of the initial MMG tugboat maneuvering motion model based on the initial MMG tugboat maneuvering motion model, includes:

[0017] A three-degree-of-freedom tugboat maneuvering motion model is established based on the aforementioned geodetic coordinate system and shipboard coordinate system:

[0018]

[0019] An initial MMG tugboat maneuvering motion model is established based on the aforementioned three-degree-of-freedom tugboat maneuvering motion model:

[0020]

[0021] The initial hydrodynamic coefficients on the hull and the initial hydrodynamic coefficients on the propeller are determined based on the initial MMG tugboat maneuvering motion model.

[0022] Where X, Y, and N are the components of the hydrodynamic force acting on the tugboat in the x, y, and z directions, respectively, and u, v, and r are the linear velocities in x, y, and z, namely the longitudinal velocity, the lateral velocity, and the yaw rate, respectively. These are the accelerations in the x, y, and z directions, respectively; I zz It is the moment of inertia about the z-axis; in the formula, the subscripts I, H, and P represent the inertial force of the hull, the viscous force, and the hydrodynamic force on the propeller, respectively; X I X H X P Y I Y H Y PN is the initial hydrodynamic coefficient on the hull. I N H N P The initial hydrodynamic coefficient is defined as the initial hydrodynamic coefficient on the propeller; the initial hydrodynamic coefficient on the hull and the initial hydrodynamic coefficient on the propeller together constitute the initial hydrodynamic coefficient.

[0023] In some possible implementations, a comparative experiment is conducted based on the physical tugboat model and the initial tugboat maneuvering motion simulation model. The modeling error factors are determined based on the results of the comparative experiment, including:

[0024] A simulation test was conducted based on the physical tugboat model, and the simulated circumduction trajectory and simulation parameters were recorded. The hydrodynamic forces and moments on the hull during the simulation test were calculated based on the simulation test results.

[0025] Using the hydrodynamic forces and moments on the hull in the simulation test, a simulation test was conducted based on the initial tugboat maneuvering motion simulation model. The simulated circumduction trajectory and simulation parameters of the tugboat were calculated based on the simulation test results.

[0026] Based on the comparison between the simulated gyratory trajectory and parameters and the simulated gyratory trajectory and parameters, the errors of the tugboat's lateral velocity, heading angle, and gyratory trajectory in the simulation test and the simulated test values ​​are determined, and the modeling error factors are determined based on the errors.

[0027] In some possible implementations, the modeling error factor is the effect of the pod on the tugboat's steering performance.

[0028] In some possible implementations, determining the target hydrodynamic coefficient for correcting the error based on the modeling error factors includes:

[0029] The hydrodynamic forces and moments generated by the pod are determined based on its effect on the tugboat's steering performance.

[0030]

[0031] Among them, X Pod Y Pod N Pod These represent the hydrodynamic forces generated by the pods in the x, y, and z directions, respectively; F N It is the normal force of the pod; t R α is the thrust reduction factor; H x is the pod force augmentation factor; P x is the longitudinal distance between the propeller and the ship. H The increased pod force acts relative to the longitudinal position in the ship; δ s For right rudder angle; δ p Left rudder angle; XPod Y Pod N Pod Together they constitute the target hydrodynamic coefficient.

[0032] In some possible implementations, establishing the target tugboat maneuvering motion model based on the target hydrodynamic coefficient and the initial MMG tugboat maneuvering motion model includes:

[0033] The initial MMG tugboat maneuvering motion model is corrected by using the hydrodynamic forces and torques generated by the pod to obtain the target tugboat maneuvering motion model:

[0034]

[0035] On the other hand, the present invention also provides a motion modeling system for the maneuvering of a dual azimuth propulsion tugboat, characterized in that it includes:

[0036] The coordinate establishment module is used to establish a fixed geodetic coordinate system in space and a ship-borne coordinate system with the tugboat's center as the origin.

[0037] The initial parameter module is used to establish an initial MMG tugboat maneuvering motion model based on the geodetic coordinate system and the ship's coordinate system, and to determine the initial hydrodynamic coefficients of the initial MMG tugboat maneuvering motion model based on the initial MMG tugboat maneuvering motion model.

[0038] The model simulation module is used to establish a physical tugboat model, and simultaneously establish an initial tugboat maneuvering motion simulation model based on the initial hydrodynamic coefficients and the physical tugboat model. Comparative experiments are conducted based on the physical tugboat model and the initial tugboat maneuvering motion simulation model, and the modeling error factors are determined based on the results of the comparative experiments.

[0039] The error calculation module is used to determine the target hydrodynamic coefficient for correcting the error based on the modeling error factors.

[0040] The target correction module establishes a target tugboat maneuvering motion model based on the target hydrodynamic coefficient and the initial MMG tugboat maneuvering motion model.

[0041] On the other hand, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the double full-rotation propulsion tugboat maneuvering motion modeling method described in the above implementation.

[0042] Finally, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the double full-rotation propulsion tugboat maneuvering motion modeling method described in the above implementation.

[0043] The beneficial effects of the above embodiments are: the present invention provides a method for modeling the maneuvering motion of a double azimuth propulsion tugboat, which introduces the effect of the pod on the steering performance of the tugboat on the basis of the traditional tugboat maneuvering modeling method, so that the established tugboat maneuvering motion model has higher prediction accuracy for the maneuverability of the double azimuth propulsion tugboat. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 A flowchart illustrating an embodiment of the motion modeling method for maneuvering a dual full-rotation propulsion tugboat provided by the present invention;

[0046] Figure 2 This is a schematic diagram of an embodiment of the geodetic coordinate system and the shipboard coordinate system provided by the present invention.

[0047] Figure 3 A schematic diagram of an embodiment of the physical tugboat model and the initial tugboat maneuvering motion simulation model provided by the present invention;

[0048] Figure 4 A schematic diagram of an embodiment of the simulation and experimental comparison of gyratory motion provided by the present invention;

[0049] Figure 5 A schematic diagram illustrating a comparison of trajectories for a 15° left turn provided by an embodiment of the present invention;

[0050] Figure 6 This is a schematic diagram illustrating a comparison of trajectories for a 25° left turn provided by an embodiment of the present invention;

[0051] Figure 7 This is a schematic diagram illustrating a comparison of trajectories for a 35° left turn provided by an embodiment of the present invention;

[0052] Figure 8 A schematic diagram of a structure of an embodiment of the dual azimuth propulsion tugboat maneuvering motion modeling system provided by the present invention;

[0053] Figure 9 A schematic diagram of the structure of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0055] It should be understood that the illustrative drawings are not drawn to scale. The flowcharts used in this invention illustrate operations implemented according to some embodiments of the invention. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or performed simultaneously. Furthermore, those skilled in the art, guided by the content of this invention, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0056] Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor systems and / or microcontroller systems.

[0057] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0058] This invention provides a method, system, equipment, and medium for modeling the maneuvering motion of a dual full-rotation propulsion tugboat.

[0059] like Figure 1 As shown, Figure 1 This is a flowchart illustrating an embodiment of the dual azimuth propulsion tugboat maneuvering motion modeling method provided by the present invention. The dual azimuth propulsion tugboat maneuvering motion modeling method includes:

[0060] S101. Establish a geodetic coordinate system fixed in space and a ship-borne coordinate system with the tugboat center as the origin;

[0061] S102. Establish an initial MMG tugboat maneuvering motion model based on the geodetic coordinate system and the ship's coordinate system, and determine the initial hydrodynamic coefficients of the initial MMG tugboat maneuvering motion model based on the initial MMG tugboat maneuvering motion model.

[0062] S103. Establish a physical tugboat model, and simultaneously establish an initial tugboat maneuvering motion simulation model based on the initial hydrodynamic coefficients and the physical tugboat model. Conduct a comparative experiment based on the physical tugboat model and the initial tugboat maneuvering motion simulation model, and determine the modeling error factors based on the results of the comparative experiment.

[0063] S104. Determine the target hydrodynamic coefficient for correcting the error based on the modeling error factors;

[0064] S105. Establish the target tugboat maneuvering motion model based on the target hydrodynamic coefficient and the initial MMG tugboat maneuvering motion model.

[0065] Compared with existing technologies, the present invention provides a method for modeling the maneuvering motion of a dual azimuth propulsion tugboat. By introducing the effect of the pod on the steering performance of the tugboat on the traditional tugboat maneuvering modeling method, the established tugboat maneuvering motion model has higher prediction accuracy for the maneuverability of dual azimuth propulsion tugboats.

[0066] Optionally, in a specific embodiment of the present invention, in step S101, the ship's motion is typically described using two right-handed Cartesian coordinate systems: a geodetic coordinate system O0-x0y0z fixed in space. o And the ship's coordinate system O-xyz, whose origin is located in the ship, the two coordinate systems are as follows: Figure 2 As shown, Figure 2 This is a schematic diagram of an embodiment of the geodetic coordinate system and the shipborne coordinate system provided by the present invention. In the geodetic coordinate system, the O0-x0y0 plane coincides with the still water surface, and the O0z0 axis points vertically downward; in the shipborne coordinate system, the axis is located in the mid-longitudinal section of the tugboat, pointing from the stern to the bow, and the axis is located in the mid-transverse section of the tugboat, pointing from midship to the starboard side, and the axis points vertically downward. Figure 2 In this context, ψ represents the ship's heading angle, i.e., the angle between the Ox axis and the O0x axis. o The angle between the positive x-axis and the y-axis; β is the drift angle, i.e., the angle between the ship's velocity U and the y-axis, defined as positive when rotating clockwise from the velocity vector U to the x-axis; δ s For right rudder angle, δ p 'r' is the port rudder angle; 'r' is the bow roll rate. The ship's speed U has x and y components along the ship's coordinate system, respectively, u and v.

[0067] Furthermore, in a specific embodiment of the present invention, in step S102, a three-degree-of-freedom tugboat maneuvering motion model is established based on the geodetic coordinate system and the ship's coordinate system, expressed as:

[0068]

[0069] Based on the aforementioned three-degree-of-freedom tugboat maneuvering motion model, an initial MMG tugboat maneuvering motion model is established, expressed as:

[0070]

[0071] The initial hydrodynamic coefficients on the hull and the initial hydrodynamic coefficients on the propeller are determined based on the initial MMG tugboat maneuvering motion model.

[0072] Where X, Y, and N are the components of the hydrodynamic force acting on the tugboat in the x, y, and z directions, respectively, and u, v, and r are the linear velocities in x, y, and z, namely the longitudinal velocity, the lateral velocity, and the yaw rate, respectively. These are the accelerations in the x, y, and z directions, respectively; I zz It is the moment of inertia about the z-axis; in the formula, the subscripts I, H, and P represent the inertial force of the hull, the viscous force, and the hydrodynamic force on the propeller, respectively; X I X H X P Y I Y H Y P N is the initial hydrodynamic coefficient on the hull. I N H N P The initial hydrodynamic coefficient is defined as the initial hydrodynamic coefficient on the propeller; the initial hydrodynamic coefficient on the hull and the initial hydrodynamic coefficient on the propeller together constitute the initial hydrodynamic coefficient.

[0073] According to potential flow theory, the inertial term can be expressed as:

[0074]

[0075] Where, m x ,m y Add mass to the hull in both the longitudinal and transverse directions; J zz This is the additional moment of inertia about the z-axis.

[0076] The viscous hydrodynamic forces acting on the hull can be described as follows:

[0077]

[0078] Where R0 is the straight-line resistance of the bare hull; X vv ,X vr ,X rr ,X vvvv ,Y v ,Y r ,Y vvv ,Y vvr ,Y vrr ,Y rrr N v N r N vvv N vvr N vrr Nrrr This represents the hydrodynamic derivative. To ensure computational accuracy and improve efficiency, a virtual towing test was conducted using commercial computational fluid dynamics software to obtain the hydrodynamic derivative (X) related to the lateral velocity. vv ,X vvvv ,Y v ,Y vvv N v N vvvv A virtual gyration experiment with a drift angle of 0 was conducted to obtain the hydrodynamic derivative (X) related to the gyration angular velocity. rr ,Y r ,Y rrr N r N rrr ); By using a gyratory motion with a drift angle, the hydrodynamic derivative (X) of the cross-coupled lateral velocity and angular velocity is obtained. vr ,Y vrr ,Y vvr N vrr N vvr ).

[0079] For a fully azimuth propeller, the thrust on the left and right propellers is expressed as:

[0080]

[0081] Where ρ is the density of water; n is the propeller speed; D p K is the diameter of the propeller disk. T{p,} The propeller thrust coefficient is expressed as:

[0082]

[0083] Among them, J {p,s} The advance rate coefficient is used as the reference value. Through open-water tests at different advance rate coefficients, the open-water characteristic curves of the propeller are obtained, and the parameter k is obtained by fitting the curves. 0{],s} ,k 1{p,s} ,k 2{p,s} Based on free-flight tests, the effective wake fraction ω under straight-line conditions was obtained using either the constant thrust method or the constant torque method. P0{p,s} .

[0084] Effective wake fraction ω under operating conditions P Defined as:

[0085]

[0086] Where, β P x is the inlet angle at the propeller; P This represents the longitudinal distance between the propeller and the ship.

[0087] By decomposing the hydrodynamic forces and torques acting on the propeller along the ship's coordinate system, we can obtain:

[0088]

[0089] Among them, t p The thrust reduction factor under maneuvering conditions is considered constant because it does not change much during maneuvering; that is, the thrust reduction factor under maneuvering conditions is assumed to be the same as the thrust reduction factor under straight-line flight conditions. p =t p0 The thrust reduction factor t in straight flight mode p0 Calculated by the constant thrust method; δ {p,} It is the rotation angle of the left and right propellers; y P It is the lateral distance between the propeller and the ship.

[0090] Furthermore, in some embodiments of the present invention, step S103 includes:

[0091] A simulation test was conducted based on the physical tugboat model, and the simulated circumduction trajectory and simulation parameters were recorded. The hydrodynamic forces and moments on the hull during the simulation test were calculated based on the simulation test results.

[0092] Using the hydrodynamic forces and moments on the hull in the simulation test, a simulation test was conducted based on the initial tugboat maneuvering motion simulation model. The simulated circumduction trajectory and simulation parameters of the tugboat were calculated based on the simulation test results.

[0093] Based on the comparison between the simulated gyratory trajectory and parameters and the simulated gyratory trajectory and parameters, the errors of the tugboat's lateral velocity, heading angle, and gyratory trajectory in the simulation test and the simulated test values ​​are determined, and the modeling error factors are determined based on the errors.

[0094] Optionally, in a specific embodiment of the present invention, in step S103, a physical tugboat model is established, and simultaneously, an initial tugboat maneuvering motion simulation model is established based on the initial hydrodynamic coefficients and the physical tugboat model, such as... Figure 3 As shown, Figure 3 A schematic diagram of an embodiment of the physical tugboat model and the initial tugboat maneuvering motion simulation model provided by the present invention is shown in Table 1.

[0095] Table 1 Tugboat Model Parameters

[0096]

[0097] Based on computational fluid dynamics, the hydrodynamic forces and torques on the hull were obtained through virtual oblique towing tests with drift angles β of ±30°, ±25°, ±20°, ±15°, ±12°, ±8°, ±4°, and 0°; virtual circular motion tests with a drift angle of 0° and dimensionless angular velocity r′ of 0.6, 0.8, and 1.0; and circular motion tests with drift angles β of ±30°, ±25°, ±20°, ±15°, ±12°, ±8°, ±4° and r′ of 0.6, 0.8, and 1.0. The calculation results were then subjected to least squares fitting regression according to the format of Equation (4) to obtain the hydrodynamic derivatives on the hull, and thus the hydrodynamic forces and torques on the hull were obtained.

[0098] The open-water performance of the propeller under the condition of advance coefficient of 0-0.95 was studied using the Moving Reference Frame (MRF) method, and the open-water curve of the propeller was established. Based on the free self-propelled test, the thrust reduction coefficient and effective wake fraction under the straight-running state were obtained by the constant thrust method; the effective wake fraction under the maneuvering condition was obtained by the empirical formula. Substituting the above variables into equation (8), the hydrodynamic force and torque on the propeller were obtained, and then substituting them into equation (2) yielded the complete maneuvering motion equation. The maneuvering motion equation was solved on a computer using the high-order Runge-Kutta method to obtain the gyration trajectory and corresponding parameters, and the simulation results were compared with the experimental results. Taking the comparison result of 25° on the port side as an example, Figure 4 As shown, Figure 4 This is a schematic diagram of an embodiment of the simulation and experimental comparison of cyclic motion provided by the present invention. In the diagram, Exp represents the simulated cyclic motion trajectory, and Sim represents the analog cyclic motion trajectory. Figure 4 It can be seen that the lateral velocity, heading angle, and turning trajectory obtained from the simulation have large errors compared with the experimental values.

[0099] The modeling error factor was determined to be the effect of the pod on the ship's steering performance. The large error between the simulation results and the experimental results was caused by neglecting the effect of the pod on the ship's steering performance.

[0100] Furthermore, in a specific embodiment of the present invention, in step S104, the hydrodynamic effect of the pod is equivalent to that of a ship's rudder. The hydrodynamic force and torque generated by the pod are determined based on its effect on the tugboat's steering performance, and are expressed as follows:

[0101]

[0102] Among them, X Pod Y Pod N Pod These represent the hydrodynamic forces generated by the pods in the x, y, and z directions, respectively; F N It is the normal force of the pod; tR The thrust reduction factor can be considered as the thrust reduction factor t. p Equal; α H The pod force enhancement factor can be derived from α. H =0.627C b -0.153 is obtained, where C b x is the ship's block coefficient; H The increased pod force relative to the longitudinal position in the ship can be determined by x. H / L wk = -0.6054 + 58.18 B / L wl -148.44 B / L wl ) 2 We obtain, where B is the ship's width, δ s For right rudder angle; δ p Left rudder angle; X Pod Y Pod N Pod Together, they constitute the target hydrodynamic coefficient. The variables in equation (9) can be obtained using the following formula:

[0103]

[0104] Among them, A P f is the area of ​​the pod; α α is the lift gradient coefficient of the pod; {p,} U is the inlet angle at the pod; Λ is the aspect ratio of the pod; U Pod The flow velocity at the pod; v Pod ,u Pod γ represents the components of the flow velocity at the pod along the x and y axes; P β is the flow field correction coefficient; P ,β Pod For effective propulsion at the thruster / pod under operating conditions

[0105] ′

[0106] Flow angle, which can be considered as β P =β Pod ι p This refers to the longitudinal distance between the pod and the ship's interior.

[0107] Furthermore, in a specific embodiment of the present invention, in step S104, the initial MMG tugboat maneuvering motion model is corrected using the hydrodynamic force and torque generated by the pod to obtain the target tugboat maneuvering motion model, which is expressed as:

[0108]

[0109] By modifying the steering force and torque in equation (2), the motion equation for the double-swivel propulsion tugboat MMG is obtained.

[0110] After substituting the variables, equation (11) becomes:

[0111]

[0112] To verify the effectiveness of the maneuvering motion modeling method for tugboats with double full-turn propulsion proposed in this embodiment of the invention, taking left turns of 15°, 25°, and 35° as examples, the trajectories and parameters of the simulation test, the simulation experiment, and the modified simulation test are compared. Based on the parameters and results, it is demonstrated that compared with the original maneuvering modeling method, the modified ship maneuvering motion equation has higher prediction accuracy for the maneuverability of tugboats with double full-turn propulsion.

[0113] like Figure 5 As shown, Figure 5 A schematic diagram illustrating a comparison of trajectories for a 15° left turn provided by an embodiment of the present invention;

[0114] like Figure 6 As shown, Figure 6 This is a schematic diagram illustrating a comparison of trajectories for a 25° left turn provided by an embodiment of the present invention;

[0115] like Figure 7 As shown, Figure 7 This is a schematic diagram illustrating a comparison of trajectories for a 35° left turn provided by an embodiment of the present invention;

[0116] exist Figure 5 , Figure 6 and Figure 7 In this context, Exp represents the simulated cyclic motion trajectory, Origin represents the simulated cyclic motion trajectory, and Modificd represents the corrected simulated cyclic motion trajectory.

[0117] As shown in Tables 2, 3, and 4, Table 2 compares the simulation and experimental results for ±15°, Table 3 compares the simulation and experimental results for ±25°, and Table 4 compares the simulation and experimental results for ±35°.

[0118] Table 2 Comparison of Simulation and Experimental Results at ±15°

[0119]

[0120]

[0121] Table 3 Comparison of Simulation and Experimental Results at ±25°

[0122] 25° Test results Simulation error Correction error -25° Test results Simulation error Correction error <![CDATA[A′ D ]]> 3.153 132.033％ 13.923％ <![CDATA[A′ D ]]> 3.122 143.113％ 11.307％ <![CDATA[T′ R ]]> 0.878 298.405％ 84.055％ <![CDATA[T′ R ]]> 0.820 333.049％ 108.902％ <![CDATA[T′ D ]]> 3.257 96.623％ 4.329％ <![CDATA[T′ D ]]> 3.048 112.566％ 12.369％ <![CDATA[R′ S ]]> 1.760 2.649％ 21.485％ <![CDATA[R′ S ]]> 2.093 6.542％ 13.782％

[0123] Table 4 Comparison of Simulation and Experimental Results at ±35°

[0124] 35° Test results Simulation error Correction error -35° Test results Simulation error Correction error <![CDATA[A′ D ]]> 2.687 139.486％ 13.175％ <![CDATA[A′ D ]]> 2.799 135.620％ 16.292％ <![CDATA[T′ R ]]> 0.256 919.922％ 381.250％ <![CDATA[T′ R ]]> 0.339 686.431％ 267.257％ <![CDATA[T′ D ]]> 1.760 158.920％ 39.375％ <![CDATA[T′ D ]]> 2.093 120.067％ 18.347％ <![CDATA[R′ S ]]> 1.930 9.741％ 16.269％ <![CDATA[R′ S ]]> 1.991 12.356％ 18.282％

[0125] Among them, A′ D T′ is the dimensionless value of the advance distance; R T′ is the dimensionless value of the horizontal distance; D R′ is the dimensionless value of the tactical diameter. S To stabilize the cyclic radius.

[0126] By comparing with experimental results, it was found that the modified ship maneuvering motion equations have higher prediction accuracy for the maneuverability of double full-turn propulsion tugboats compared with the original maneuvering modeling method.

[0127] To better implement the motion modeling method for the maneuvering of a dual full-spinning propulsion tugboat in this embodiment of the invention, this embodiment also provides a motion modeling system for the maneuvering of a dual full-spinning propulsion tugboat, such as... Figure 8 As shown, the dual full-swivel propulsion tugboat maneuvering motion modeling system 800 includes:

[0128] The coordinate establishment module 801 is used to establish a geodetic coordinate system fixed in space and a ship-borne coordinate system with the tugboat center as the coordinate origin;

[0129] The initial parameter module 802 is used to establish an initial MMG tugboat maneuvering motion model based on the geodetic coordinate system and the ship's coordinate system, and to determine the initial hydrodynamic coefficients of the initial MMG tugboat maneuvering motion model based on the initial MMG tugboat maneuvering motion model.

[0130] The model simulation module 803 is used to establish a physical tugboat model, and simultaneously establish an initial tugboat maneuvering motion simulation model based on the initial hydrodynamic coefficients and the physical tugboat model. A comparative experiment is conducted based on the physical tugboat model and the initial tugboat maneuvering motion simulation model, and the modeling error factors are determined based on the results of the comparative experiment.

[0131] Error calculation module 804 is used to determine the target hydrodynamic coefficient for correcting the error based on the modeling error factors;

[0132] The target correction module 805 establishes a target tugboat maneuvering motion model based on the target hydrodynamic coefficient and the initial MMG tugboat maneuvering motion model.

[0133] The dual azimuth propulsion tugboat maneuvering motion modeling system 800 provided in the above embodiments can realize the technical solutions described in the embodiments of the dual azimuth propulsion tugboat maneuvering motion modeling method. The specific implementation principles of each module or unit can be found in the corresponding content in the embodiments of the dual azimuth propulsion tugboat maneuvering motion modeling method, which will not be repeated here.

[0134] like Figure 9 As shown, the present invention also provides an electronic device 900. The electronic device 900 includes a processor 901, a memory 902, and a display 903. Figure 9 Only some components of the electronic device 900 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0135] In some embodiments, processor 901 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 902 or process data, such as the motion modeling program for the double azimuth propulsion tugboat in this invention.

[0136] In some embodiments, processor 901 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 901 may be local or remote. In some embodiments, processor 901 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, intranet, multi-cloud, etc., or any combination thereof.

[0137] In some embodiments, memory 902 may be an internal storage unit of electronic device 900, such as a hard disk or memory of electronic device 900. In other embodiments, memory 902 may also be an external storage device of electronic device 900, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 900.

[0138] Furthermore, the memory 902 may include both internal storage units of the electronic device 900 and external storage devices. The memory 902 is used to store application software and various types of data installed on the electronic device 900.

[0139] In some embodiments, display 903 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 903 is used to display information from electronic device 900 and to display a visual user interface. Components 901-903 of electronic device 900 communicate with each other via a system bus.

[0140] In one embodiment, when processor 901 executes the motion modeling program for the dual azimuth propulsion tugboat in memory 902, the following steps can be implemented:

[0141] Establish a fixed geodetic coordinate system in space and a shipborne coordinate system with the tugboat's center as the origin;

[0142] An initial MMG tugboat maneuvering motion model is established based on the geodetic coordinate system and the ship's coordinate system, and the initial hydrodynamic coefficients of the initial MMG tugboat maneuvering motion model are determined based on the initial MMG tugboat maneuvering motion model.

[0143] A physical tugboat model is established, and an initial tugboat maneuvering motion simulation model is established based on the initial hydrodynamic coefficients and the physical tugboat model. A comparative experiment is conducted based on the physical tugboat model and the initial tugboat maneuvering motion simulation model, and the modeling error factors are determined based on the results of the comparative experiment.

[0144] Based on the aforementioned modeling error factors, determine the target hydrodynamic coefficient for error correction;

[0145] A target tugboat maneuvering motion model is established based on the target hydrodynamic coefficient and the initial MMG tugboat maneuvering motion model.

[0146] It should be understood that when the processor 901 executes the motion modeling program for the dual full-rotation propulsion tugboat in the memory 902, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0147] Furthermore, the embodiments of the present invention do not specifically limit the type of the electronic device 900 mentioned. The electronic device 900 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 900 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0148] Accordingly, this application also provides a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions in the double full-rotation propulsion tugboat maneuvering motion modeling method provided in the above-described method embodiments.

[0149] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0150] The foregoing has provided a detailed description of the method, system, equipment, and storage medium for modeling the maneuvering motion of a dual full-rotation propulsion tugboat provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for modeling the maneuvering motion of a double full-rotation propulsion tugboat, characterized in that, include: Establish a fixed geodetic coordinate system in space and a shipborne coordinate system with the tugboat's center as the origin; An initial MMG tugboat maneuvering motion model is established based on the aforementioned geodetic coordinate system and shipboard coordinate system. The initial hydrodynamic coefficients of the initial MMG tugboat maneuvering motion model are then determined based on this model, including: A three-degree-of-freedom tugboat maneuvering motion model is established based on the aforementioned geodetic coordinate system and shipboard coordinate system: An initial MMG tugboat maneuvering motion model is established based on the aforementioned three-degree-of-freedom tugboat maneuvering motion model: The initial hydrodynamic coefficients on the hull and the initial hydrodynamic coefficients on the propeller are determined based on the initial MMG tugboat maneuvering motion model. in, They are respectively in The component of the hydrodynamic force acting on the tugboat in the direction of motion. They are respectively The linear velocity, namely the longitudinal velocity, the lateral velocity, and the yaw rate; They are Acceleration in the direction of; It is around Moment of inertia of the shaft; where subscript These represent the inertial force of the hull, the viscous force, and the hydrodynamic force on the propeller, respectively. The initial hydrodynamic coefficients on the hull are given. The initial hydrodynamic coefficient is defined as the initial hydrodynamic coefficient on the propeller; the initial hydrodynamic coefficient on the hull and the initial hydrodynamic coefficient on the propeller together constitute the initial hydrodynamic coefficient. A physical tugboat model is established, and an initial tugboat maneuvering motion simulation model is established based on the initial hydrodynamic coefficients and the physical tugboat model. A comparative experiment is conducted based on the physical tugboat model and the initial tugboat maneuvering motion simulation model, and the modeling error factors are determined based on the results of the comparative experiment. Based on the aforementioned modeling error factors, the target hydrodynamic coefficient for error correction is determined, including: The hydrodynamic forces and moments generated by the pod are determined based on its effect on the tugboat's steering performance. in, They are respectively in The hydrodynamic force generated by the pod in the direction of movement; It is the normal force of the pod; This is the thrust reduction factor; This is the pod force augmentation factor; This represents the longitudinal distance between the propeller and the center of the ship. The increased pod force acts relative to the longitudinal position in the ship; Right rudder angle; Left rudder angle; Together they constitute the target hydrodynamic coefficient; A target tugboat maneuvering motion model is established based on the target hydrodynamic coefficient and the initial MMG tugboat maneuvering motion model.

2. The method for modeling the maneuvering motion of a dual full-rotation propulsion tugboat according to claim 1, characterized in that, The establishment of a fixed geodetic coordinate system in space and a ship-borne coordinate system with the tugboat's center as the origin includes: Establish a geodetic coordinate system fixed in space and the ship's coordinate system with the tugboat's center as the origin. ; In the geodetic coordinate system The plane coincides with the still water surface. The axis is vertically downward; In the ship's coordinate system The shaft runs from the stern to the bow within the mid-longitudinal section of the tugboat. The shaft is located within the midships transverse section of the tugboat, pointing from midships to starboard. The axis is vertically downward.

3. The method for modeling the maneuvering motion of a dual full-rotation propulsion tugboat according to claim 1, characterized in that, The comparative experiment based on the physical tugboat model and the initial tugboat maneuvering motion simulation model is conducted, and the modeling error factors are determined based on the results of the comparative experiment, including: A simulation test was conducted based on the physical tugboat model, and the simulated circumduction trajectory and simulation parameters were recorded. The hydrodynamic forces and moments on the hull during the simulation test were calculated based on the simulation test results. Using the hydrodynamic forces and moments on the hull in the simulation test, a simulation test was conducted based on the initial tugboat maneuvering motion simulation model. The simulated circumduction trajectory and simulation parameters of the tugboat were calculated based on the simulation test results. Based on the comparison between the simulated gyratory trajectory and parameters and the simulated gyratory trajectory and parameters, the errors of the tugboat's lateral velocity, heading angle, and gyratory trajectory in the simulation test and the simulated test values ​​are determined, and the modeling error factors are determined based on the errors.

4. The method for modeling the maneuvering motion of a dual full-rotation propulsion tugboat according to claim 3, characterized in that, The modeling error factor is the effect of the pod on the tugboat's steering performance.

5. The method for modeling the maneuvering motion of a dual full-rotation propulsion tugboat according to claim 1, characterized in that, The establishment of the target tugboat maneuvering motion model based on the target hydrodynamic coefficient and the initial MMG tugboat maneuvering motion model includes: The initial MMG tugboat maneuvering motion model is corrected by using the hydrodynamic forces and torques generated by the pod to obtain the target tugboat maneuvering motion model: 。 6. A motion modeling system for the maneuvering of a dual full-rotation propulsion tugboat, characterized in that, include: The coordinate establishment module is used to establish a fixed geodetic coordinate system in space and a ship-borne coordinate system with the tugboat's center as the origin. The initial parameter module is used to establish an initial MMG tugboat maneuvering motion model based on the geodetic coordinate system and the ship's coordinate system, and to determine the initial hydrodynamic coefficients of the initial MMG tugboat maneuvering motion model based on the initial MMG tugboat maneuvering motion model, including: A three-degree-of-freedom tugboat maneuvering motion model is established based on the aforementioned geodetic coordinate system and shipboard coordinate system: An initial MMG tugboat maneuvering motion model is established based on the aforementioned three-degree-of-freedom tugboat maneuvering motion model: The initial hydrodynamic coefficients on the hull and the initial hydrodynamic coefficients on the propeller are determined based on the initial MMG tugboat maneuvering motion model. in, They are respectively in The component of the hydrodynamic force acting on the tugboat in the direction of motion. They are respectively The linear velocity, namely the longitudinal velocity, the lateral velocity, and the yaw rate; They are Acceleration in the direction of; It is around Moment of inertia of the shaft; where subscript These represent the inertial force of the hull, the viscous force, and the hydrodynamic force on the propeller, respectively. The initial hydrodynamic coefficients on the hull are given. The initial hydrodynamic coefficient is defined as the initial hydrodynamic coefficient on the propeller; the initial hydrodynamic coefficient on the hull and the initial hydrodynamic coefficient on the propeller together constitute the initial hydrodynamic coefficient. The model simulation module is used to establish a physical tugboat model, and simultaneously establish an initial tugboat maneuvering motion simulation model based on the initial hydrodynamic coefficients and the physical tugboat model. Comparative experiments are conducted based on the physical tugboat model and the initial tugboat maneuvering motion simulation model, and the modeling error factors are determined based on the results of the comparative experiments. The error calculation module, used to determine the target hydrodynamic coefficient for error correction based on the modeling error factors, includes: The hydrodynamic forces and moments generated by the pod are determined based on its effect on the tugboat's steering performance. in, They are respectively in The hydrodynamic force generated by the pod in the direction of movement; It is the normal force of the pod; This is the thrust reduction factor; This is the pod force augmentation factor; This represents the longitudinal distance between the propeller and the center of the ship. The increased pod force acts relative to the longitudinal position in the ship; Right rudder angle; Left rudder angle; Together they constitute the target hydrodynamic coefficient; The target correction module establishes a target tugboat maneuvering motion model based on the target hydrodynamic coefficient and the initial MMG tugboat maneuvering motion model.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the motion modeling method for maneuvering a double full-rotation propulsion tugboat as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the motion modeling method for maneuvering a double full-rotation propulsion tugboat as described in any one of claims 1 to 5.

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