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为实现拖网渔船曳纲的三维动态仿真,采用集中质量法建立曳纲的水动力数学模型,将曳纲在空间上离散为一系列质量点,这些点通过无质量弹簧相连,忽略曳纲的扭转、抖动等,根据牛顿第二定律建立曳纲运动控制方程,通过指数矩阵精细积分法对曳纲的非线性动力学微分方程组进行求解,得到曳纲的位置和速度信息,从而进行曳纲动态可视化。该数值方法具有很高的精度和效率以及较大的适用范围,数值计算的结果与相关实验数据比较证明了该方法的有效性。
In order to realize the three-dimensional dynamic simulation of the trawlers, the hydrodynamic model of the trawler was established by the mass-concentration method. The trackers were spatially separated into a series of mass points, which were connected by massless springs and neglected the torsion , Jitter and so on. According to Newton’s second law, the motion control equation of the dragline is established, and the nonlinear dynamic differential equations of the dragline are solved by the exponential matrix precision integral method. The position and velocity information of the dragline are obtained, Visualization. The numerical method has high accuracy and efficiency as well as a large scope of application. The numerical results compared with the relevant experimental data prove the effectiveness of the method.