| The use of the ship motion simulator is very convenient for the driver to be familiar with the ship's operation and to carry out driving simulation training.And it also can train the crew's maneuvering skills,exercise their emergency ability under different sea conditions,and avoid the shipwreck caused by wrong operation as much as possible.The core of the simulator is to establish a mathematical model of the movement of the ship under ocean navigation,the second is to realize the visual vision system,and the third is to simulate the cockpit.The research on ship motion simulator has engineering and practical application significance.Based on the theory of MMG modeling,establish a mathematical model of 6DOF motion of a ship in wind and waves with the hull is regarded as a rigid body.The MMG model establishes the hydrodynamic models on the hull,paddle,and rudder when calculating the fluid dynamics of the ship and considers the coupling between them.For the calculation of environmental disturbance force,the random wind on the sea surface is simplified to a constant wind to get mathematical model of wind disturbance force.According to the Froude-Krylov hypothesis,the shape of the ship is simplified to a regular hexahedron by a box type ship,then establish the mathematical model of wave interference force in regular waves.Based on the established mathematical model of motion simulation,the rotation trajectory of the ship in the still water is obtained by the cycle test,and the Z-type manipulation experiment is carried out to verify the maneuverability of the ship.The simulation results are compared with the results of the self-propelled model test.The rationality of the established mathematical model of motion is verified by reference to the ship's operational swing capability requirements and ship yaw correction and heading stability requirements.Finally,conduct a simulation experiment of direct and rotary motion manipulation of ships under different sea conditions and analyze factors affecting the trajectory of the ship and the swaying motion during the movement of the ship.Design the motion washout algorithm for the simulator,by using the characteristics of the human vestibular sensory organ.Determining filter parameters in the washout algorithm by the motion space of platform and acceleration signal error of human body.Finally,the sound simulation system,the operation equipment and motion system are added to complete the overall design of the simulator.The simulation of the ship's motion in the wind and wave is realized on the simulator,which satisfies the function requirements to change the ship's main engine speed and change the wind and wave level in the simulation environment. |
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