【作者】 孙巍；

【导师】 韩端锋；

【作者基本信息】 哈尔滨工程大学 ， 流体力学， 2015， 硕士

【摘要】 近年来,随着航运事业的发展和通航密度的加大,拖航业务也进入繁忙阶段,人们对拖航作业的重视程度也随之大大提高。一直以来,拖航作业主要是靠船长和引航员的经验来现场应变,因此存在一定的风险和不确定性。对拖航作业系统进行操纵运动仿真研究,不仅可以预先规划拖航路线,而且可以实时预报环境因素对运动的影响,对保证拖航作业的安全很有意义。为此,本文主要开展了如下研究工作:根据船舶操纵性理论,采用“MMG”操纵运动方程计算在静水中的六自由度船舶操纵运动,总结出求解操纵运动方程中裸船体水动力(惯性类水动力和非惯性类水动力)以及船体主动力(即螺旋桨推力和舵力)的计算方法并加以修正,并考虑环境因素的影响,建立风、浪、流作用下六自由度船舶操纵运动数学模型。通过实例验证该数学模型的可行性后,建立拖轮和被拖驳船的六自由度运动模型,并对拖轮在静水和风、浪、流中的操纵运动进行实时仿真,为计算拖航操纵运动奠定基础。基于悬链线理论建立拖缆模型,在拖轮和被拖驳船的六自由度运动模型基础上,结合拖缆计算模型,建立由拖轮、拖缆、驳船组成的完整拖航系统在风、浪、流影响下的六自由度操纵运动数学模型。应用四阶龙格库塔法编制计算程序求解拖航作业系统的操纵性方程,对拖航操纵运动进行实时仿真,分析拖航速度、拖缆长度对拖航直航、回转及航向稳定性的影响,并计算拖航系统分别在风、浪、流单独影响及环境综合影响下的操纵运动。更多还原

【Abstract】 In recent years,with the development of marine shipping industry as well as increasing traffic density and towage business,more and more attention has been attracted to the towing system.The towing operation,however,has long been instructed by the experience of captain and pilot,which implies some risks and uncertainty on maneuverability.Using simulative method does make sense to simulate towing motion,forecast influence of environmental factors and further guarantee the safer towing.On above opinion,the following works in this paper have been completed.Based on Maneuvering Model Group(hereafter called as MMG)manipulation equations,summing up the mathematical model of hydrodynamic force,propeller thrust,rudder force and their appropriate correction,considering the influence of environment,the mathematical model of ship maneuvering motion with six degrees of freedom can be built according to maneuverability theory.By verifying the feasibility of this mathematical model with real ship sea trial results,the mathematical model of tug and barge with six degrees of freedom can be built and further the tug’s maneuvering motion both in still water and in wind,wave,current can be simulated in real time.Combined with towing cable force which is calculated by means of catenary theory,the maneuvering model of towing system with six degrees of freedom,consisting of tug,towing cable and barge,can be built,with consideration of wind,wave as well as current.By employing fourth-order Runge-Kutta method,a computer program was made to give the solution to towing system motion equations based on which the maneuvering motion of towing system can be simulated in real time.Additionally the effects of towing speed and the length of towline on the sea-keeping capability can be analyzed;the maneuverability of towing system in wind,wave and current can be calculated.更多还原