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SIEMENS自由航迹模拟 (Free Running Simulations)

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摘要:

本文为西门子关于船舶 ** 自由航迹仿真(Free Running)** 的技术文档,基于 STAR-CCM + 平台展开。文档定义自由航迹仿真是自推进、操纵、控制面与控制系统的六自由度动态耦合,船舶可直行或按舵机指令转向。介绍了重叠网格多区域设置、船体与背景网格运动关联方案,以及 3-DOF/6-DOF 运动控制。说明了舵角反馈计算、控制面叠加运动与 PID 比例控制逻辑,给出航向 — 舵角闭环控制流程与 15 度 Zig Zag 操纵仿真示例。整体提供船舶自由操纵仿真的建模、网格、运动控制及控制系统搭建方法。

What is free-running?

Dynamic combination of:

•   self-propulsion

•   maneuvering

•   control surfaces

•   control systems


The vessel is free in all 6 DoF and runs in a straight course or executes  maneuvers based on rudder inputs. Rudder inputs are generated by a control system.

Domain Setup

Use a multi-Region Overset setup:

•   Ship / Background

•   Region for each control surface

•   Region for each propeller (if applicable)

image.pngimage.png

Motions

Allow the vessel to move freely but have the background mesh follow the hull CG position and heading but ignore pitch,

heave and heel.

Body Reports:

        •   Yaw Rate (Z Rot) in Lab CSys

        •   Vel X in Lab CSys

        •   Vel Y in Lab Csys


Motion 1 – Planar Translation

        •   Vel X Body Report

        •   Vel Y Body Report

        •    Reference Lab CSys

        •    Manage CSys: Planar Trans CSys

        •    Stays parallel with Lab Csys

        •     Init origin at CG


Motion 2 – Planar Translation & Turning

        •   Yaw Rate Body Report

        •   Vel X Body Report

        •   Vel Y Body Report

        •    Reference Planar Trans Csys

        •    Force background mesh to translate and rotate about ship CGx

image.png


Control Surface Motions

Rudders use Superposed motions relative to CG

        •   Rudder rotation rate specified by control system

Current rudder angle is necessary for control system but there is no report. Workaround is necessary:

        •   Split rudder into inboard and outboard surfaces

        •   Create unit normal vector FF

        •   $$Area/mag($$Area)

        •   Report the Surface Average Normal in X & Y Dir in Rudder Csys at initial conditions

        •   Compute a baseline “angle” constant at zero deflection

        •   atan2(i_dir, j_dir)

        •   Compute current angle at anytime by offsetting with zero deflection “angle”

image.png


Control System

Basic proportional feedback control system 

•   The P in a PID controller

image.png

Requires some information:

        •    Max rudder speed

        •    Current rudder angle

        •    Requested rudder angle

        •    Maximum rudder angle

        •    Proportional constant, K

        •    Current heading

        •    Set course


Output rudder speed is computed as:

1.  IF Request Angle < Max Angle

        •    IF (Request Angle – Current Angle) / Δt > Max Speed THEN apply Max Speed

        •    ELSE apply (Request Angle – Current Angle) / Δt

2.  IF Request Angle > Max Angle

        •    Adjust Request Angle to Max Angle

        •    Goto 1


Note that angle is positive and negative. Maintain the sign of the requested angle

15 deg Zig Zag

image.png


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stelephoneonthe14February1876,just3hoursbeforeElishaGray.Nobodywasinterestedinhisinventionfirst.WhenheaskedtheWesternTelegraphCompanyin1877tobuyhispatentfor$100,000,theresponsewas‘‘Whatshallwedowithatoylikethat?’’.Therewassomedoubtastotheusetowhichtelephonesmightactuallybeputinpractice.Demonstrationsoftenincludedspeech,songandmusic,anditwasnotuncommonforthemusicaldemonstrationstobetechnicallythemostsuccessful.‘‘Themusicaltelephone’’wasamajorattractionattheInternationalElectricalExhibitioninParisin1881,wheretheFrenchengineerClementAderdemonstratedstereophonictransmissionbytelephonedirectfromthestagesoftheParisOperaHouseandtheCome,dieFranaise.Itwasbelievedtobethemajorapplicationoftelephony.In1890,acommercialcompany,CompagnieduTheatro-phone(Figure1.5),wasestablishedinParis,distributingmusicbytelephonefromvarioustheatrestospecialcoin-operatedtelephonesinstalledinhotels,cafes,etc.andtodomesticsubscribers.Theservicecontinueduntil1932,whenitwasmadeobsoletebyradiobroad-casting.Thephonehascomealongwaysincethen,andthefirstmassmarketapplicationissimply…talkingwithotherpeople.WiththeadventoftheInternetandwirelessdataservices,anewrealmofpossibilitiesarealreadyoffered,thatgofarbeyond‘‘justtalkingwithotherpeople’’,aswitnessedbytherecentsuccessofNTTDoCoMo’sI-modeserviceinJapan.Servicecategoriesofthenearfuturewillencompasspersonalizedinformationdeliveryfornews,location-dependantservices,travel,bankingandpersonalhobbies;itwillalsoincludeproductivity-relatedservicessuchasVirtualPrivateNetwork(VPN)withtheofficeorthefamily,personalassistant,agendas,andaddressbooks;extendedcommunication,includinge-mail,postcardtransmission,andofcourseentertainment.Nokiahasalreadyintroducedphoneswithgamessuchas‘‘thesnake’’,butthefuturewillbringmuchmoreexcitinggames(on-lineaswellasoff-line,puzzles,gambling)andnewformsofentertainment:music(ringtones,clipsandsongs),TV(schedules,clips),chatgroups,astrology,datingservicesandwhatissometimescalled’’adultentertainment’’.Figure1.6showssomeoftheservicecategories.Thesuccessfuldeploymentoftheserviceswilldependoneaseofuse,convenience,pertinence,andclearaffordablebilling.Thepertinenceoftheservicewillrequirepersona-lization;profilingtechnologycanbeusedtomatchcontenttotheneedsoftheusers.Loca-tion-basedserviceswillenableorfacilitatesuchprofiling.Ofcourselocalizationwillhavetobevolunteeredand‘‘legally-correct’’information.Mostmobilelocation-basedservicestodayusepositioningbasedonCellofOrigin(COO),buttheprecisionisoftenmediocre,linkedtocellsize;insomecases,thisisacceptableenough.Anothermethod,knownasEnhancedObservedTimeofDifference(EOTD)isusedinsomeGSMnetworks.TimeofarrivalsignalsfrombasestationsaremeasuredbythephoneandwhatiscalledaLocation-MeasurementUnit(LMU).InfutureUMTSsystems,asimilartechniquewillbeusedthatisknownasObservedTimeDifferenceofArrival(OTDOA).ThelocationmethodswejusttalkedaboutonlyusethenetworkandLMUsasameanstogetlocationinformation;theuseofGlobalPositioningSystem(GPS)givesbetterresults,butthecostofaGPSreceiverhastobeaddedtothephone.Anillustrationofaninnovativewaytoexploitandpresentlocation-basedservicesisgiveninthelastchapterofthebook.1.4TheCurseandOpportunityofMoore’sLawMoore’slawpredictedtherapidincreaseintransistordensityonsiliconchips.Alongwiththisincreaseintransistordensity,cameanincreaseinclockspeed,chipsize,andcomponentdensityonboards.Allthishasgiventhesystemdesigneranexponentiallyincreasingamountofprocessingpowertoplaywithinhisorherquestformoreandmoresophisticatedsystems.Thedesigncommunityhasreactedtothisexplosionbymakinglessandlessefficientuseofthetransistorsofferedtoit.Thishasbeentruesincewefirstmovedfromhandlaidouttransistorstologicgates.Thelatterislessefficientintermsofsiliconareaandspeedoptimization,butismuchmoreefficientintermsofamorepreciousresource:humanintel-lect.FromlogictoRTLtomicroprocessors,thedesignerhasmovedtoanincreasinglyhighlevelofabstractioninordertodesignmoreandmorecomplexdevicesinreasonabletime-frames.Despitethis,designerscontinuetolagbehindprocessengineersintheirabilitytoconsumethetransistorsbeingmadeavailabletothem.ThiscanbeclearlyseeninFigure1.7whichplotstheabilityofadesignertousetransistorsagainsttheavailabilityoftransistorsthatcanbeused.Thistrendmakestheuseofprogrammabledeviceswithinmobilecommu-nicationssystemsinevitablefortheforeseeablefuture.Theonlyquestionis,whatwilltheseprogrammabledeviceslooklike?ProgrammableDSPsareprogrammabledevicesthatincludefeaturesthatenableefficientimplementationofsystemswithinthespecialclassofsignalprocessingproblems.ByfocusingonsignalprocessingDSPdesignershaveputprogrammableDSPsattheheartofmanyconsumerdevices,includingmobilecommunicationsystems.RecentlyDSPshavebeenspecializedtoperformspecificallyinthedomainofsignalprocessingformobilecommunications(moredetailsaregiveninChapter2).ThebalancebetweenspecializationandflexibilityisimportantforanyDSPtosucceed.AsDSPsareprogrammable,theyarenot‘‘justpiecesofsilicon,’’theycomewithadevelopmentenvironment.Intheearly1980s,DSPwasconsideredblackmagic,usedbyguruswhowroteallapplicationsinassemblylanguage.Now,powerfuldevelopmenttoolsincludingapplicationboards,emulators,simulators,debuggers,optimizingHighLevelLanguage(HLL)compilers,assemblers,linkers,blockdiagramenvironments,codegenerators,real-timeoperatingsystems(enablingeasiermultitasking,preemptivescheduling,highspeedcontextswitching,lowinterruptlatency,andfast,flexibleintertaskcommunication)aswellasmanyDSP-relatedbooksandapplicationnotesandinnovativevisualtoolshavemadeDSPtechnologyatoolforrapiddesignofincreasinglycomplexsystems.IncompetitiontoDSPs,‘‘siliconcompilers’’havearisen.Thesecompilerspromisetotakehighleveldescriptionsofasystem,andoutputadesignreadyforsynthesis,usuallywithacertainamountofuserfeedbackalongtheway.Thoughsuchtoolshaveshownsomesuccessandarenodoubtausefultoolinadesignersarsenal,theydonotprovideawaytomodifyasystemonceithasbeenfabricated.Thisisbecominganincreasinglyimportantrequirementbecausesystemsevolvequicklyandareincreasinglydifficulttospecifyatdesigntime.Forinstance,amobilehandsetmaynotbefullytesteduntilithasbeenusedinthefield.Theincreasingcostofmasksetsforthefabricationofchipsmeansanychangethatcannotbedonebyreprogrammingmaycostmillionsofdollarsandmonthsoftime.Thisisunacceptableintoday’smarketplace.更多内容见附件免责声明:本页面/内容部分素材来源于互联网公开信息,旨在传递更多信息,不代表本平台立场。版权归原作者或机构所有,如涉及侵权,请通过平台联系我们,我们将在核实后第一时间处理。本平台对转载内容的真实性、准确性不作任何保证,用户需自行判断并承担使用风险。

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