| Steering gear is an important equipment to control the movement of ship. Its performance is related to the safety of ship navigation. The traditional steering gear has big noise, too many pipes, large occupied area, and the installation and maintenance is difficult. It is difficult to meet the requirements of the development of green ships in today’s society. With the rotary vane steering gear sealing problem has gradually been overcome, because of its characteristics of compact structure, small occupied area, convenient installation, little pipeline, low noise, energy saving and high efficiency etc, the application of rotary vane steering gear will be more and more extensive. Some even predicte that the vane steering gear will be the most promising in the future.In order to conduct in-depth analysis and research of the rotary vane steering gear system, taking the rotary vane hydraulic steering gear system on the offshore engineering vessel "SEA OIL 681" as the research object, establishes the mathematical models of rotary vane steering gear, designs and develops the rotary vane steering gear simulation software.The mathematical models of steering gear system include the mathematical model of variable frequency speed regulation unit, mathematical model of hydraulic power mechanism, hydrodynamic mathematical model of rudder blade, mathematical model of displacement sensor etc. All the mathematical models are simulated and verified in Matlab/Simulink. The simulation results accord with the requirements of the SOLAS Convention on the marine steering gear.The simulation system includes two dimensional simulation software and 3D virtual scene. The two dimensional simulation system is developed by C# language on the basis of mathematical models of the steering gear system, including the user interface layer, data layer, logic layer etc.The user interface layer is a visual display of the program, used to respond to the user’s actions, display the system real time data, parameter changes and fault alarms, monitor the status of the model program. The data layer is used to store the data of the steering gear. The logic layer is responsible for the simulation and calculation of the entire steering gear system.The steering gear model simulation program is to belong to this layer.The 3D virtual scene is based on the data of the real ship, constructed by 3ds Max. Imports the 3D scene models into the virtual reality 3D engine Unity3D, adjusts the lighting display effect, adds the related components and write the scripts to achieve the 3D virtual scene roaming and operation. Finally, based on the UDP communication protocol, the data communication between the two dimensional simulation system and the 3D virtual scene is realized. By sharing model data, the status and parameters of the corresponding objects in the two are kept in synchronization.The simulation system of rotary vane hydraulic steering gear has high precision, is basically consistent with the real ship data, comply with the relevant requirements of the convention. It can not only be used in teaching and training of steering gear system, but also be used as a research platform for the control system of rotary vane steering gear. |
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