拖网渔船曳纲的运动建模及仿真

Dynamic modeling and simulation of a warp in trawler fishing vessels

在拖拽系统水动力理论研究的基础上,根据集中质量法建立曳纲的三维动力学数学模型,将曳纲在空间上离散为一系列节点,同时忽略曳纲的扭转、抖动等,计入张力、重力、浮力和流体阻力的作用,建立曳纲的动态运动数学模型,并通过四阶龙格库塔方法积分求解,得到曳纲的位置和速度信息,最后利用三维图形引擎OSG(Open Scene Graph)实现拖曳系统的三维可视化。数值计算结果与相关试验数据比较表明,曳纲模型的求解方法是可靠的,同时又保证了仿真的实时性。

A mathematical model was proposed to describe the of a warp in order to realize the real-time visualization of trawler warp. The model of warp was established according to lumped mass method in which the warp was discrete into a series of nodes in space. This model explained the warp tension, weight, buoyancy as well as hydrodynamic forces while the twist and shake were ignored, which was numerically solved by 4th order Runge-Kutta integration method. The position and velocity were obtained by solving the model. Finally the three-dimensional visualization of towing system was realized using graphics engine OSG （ OpenSceneGraph ） . Comparison of numerical calculation with associated experimental data reveals that the solving method of warp model is the real-time simulation as well as reliable.