【作者】 田超；

【导师】 刘祖源；

【作者基本信息】 武汉理工大学 ， 流体力学， 2003， 硕士

【摘要】 船舶，与其它交通运输工具一样，其安全性是最重要、最令人关注的性能之一。随着造船与航运业的发展，船舶向多样化、大型化和高速化的方向发展，出现了集装箱船、LPG、VLCC以及滚装船等，这些船舶的操纵性都有其各自的特点和难度。另外，船舶数量增多，航速提高，吨位增加，航道中航行密度加大，海损事故概率上升，每年失事的船舶约占世界船队的0.4％，其中与操纵有关的事故占40％左右。近几十年来，由于船舶驾驶人员操作不当及船舶操纵性差而导致的船舶海难事故时有发生，船舶的安全操纵已经成为世界上一个突出的课题。因此，国际海事组织(IMO)和各国政府都致力于制定“船舶操纵性标准”，许多国家还要求新建造的船舶和进入该国水域的船舶提交操纵性计算书和试验报告。另外，随着内河航运事业的发展，内河船舶和分节顶推船队的规模越来越大，特别是编队庞大的顶推船队，可以视为浅吃水的肥大船型，为保证航行安全，特别是顺利通过大桥，对其操纵性也有特殊的要求。 船舶操纵性(Ship Maneuverability)的研究内容包括船舶的运动性能以及船舶所处的自然环境和地形环境(如风、浪、流以及浅水与狭窄航道)对其运动性能的影响。而预报船舶操纵性，以确定其是否满足操纵性要求，是船舶操纵性研究的首要任务。过去，人们注意的往往是静水中的操纵性，如航向稳定性，回转性能等。但是船舶在实际航行中，则要遇到风、浪和流的影响，而且许多海难事故常常发生在恶劣的海况下，往往伴有狂风和暴雨。研究船舶在风、浪和流中的操纵性，不但能够在设计初始阶段，对船舶的操纵性能进行优化设计，而且有助于了解船舶碰撞与倾覆事故的产生机理，指导驾驶人员提高驾驶技术，预防海难发生，因而既有理论上的意义，又有很大的实用价值。因此，本文的研究目的是：考虑风浪流等环境因素的影响，建立一个实用而又完善的船舶操纵运动计算仿真系统。 本文将OpenGL虚拟现实仿真技术运用到船舶操纵与控制领域中，利用MMG数学模型，建立了风浪流作用下船舶操纵运动的三维动态仿真系统，武汉理工大学硕士学位论文取得了良好的效果。 在系统开发过程中，首先采用MMG分离式数学模型及相关的系列化试验结果，建立单桨单舵海洋运输船舶在静水中的船舶操纵运动方程，并编制计算程序，经与试验结果比较，证实了计算结果的正确性;为了解MMG数学模型中模型参数变化对操纵性指数的影响程度，作者在上述已有程序基础上，对有关模型参数进行偏移修正，探讨了相应参数变化后的操纵性指数，对船舶操纵性指数对模型参数的灵敏度进行了详细的分析与探讨，所得结论与工程实际相吻合，具有实际应用价值，并为进一步提高船舶操纵性预报的精度打下了基础;然后，在已有的船舶静水操纵运动模型基础上，考虑双桨双舵的影响，建立了内河双桨双舵船舶的操纵运动模型;最后，综合考虑风浪流作用力的影响，进行了船舶的操纵运动仿真计算。 另外，船舶操纵仿真在工程中有着广泛的应用背景，本文最后对船舶操纵仿真在船舶避碰、船舶过桥仿真和港口航道设计等工程领域中的应用进行了讨论。更多还原

【Abstract】 Ship, like other transportation vehicles, its security is the most important performance that is concerned mostly by people. With the development of shipbuilding and shipping, ship tends to move to the direction of diversification, bigger displacement and higher speed. At the same time, the container ship, LPG, VLCC and roll-roll ship appear, which have their own maneuvering character and difficulty. On the other hand, as ship’s number, speed, displacement is increasing and shipping density improving, the probability of shipping accident is rising. As a result, the number of wrecking ship accounts for 0.4 percent of the whole world ship fleet, and 40 percent of the accident are correlated with the maneuverability. In the past dozens of years, shipping accidents happened frequently because of the inappropriate operation of the ship driver and bad ship maneuverability, and the ship maneuvering security is becoming a prominent issue in the world. Therefore, the International Maritime Organization (IMO) and many countries’ governments are endeavoring to stipulate for the "Standard of the Ship Maneuverability". In addition, many countries’ government also demand the calculation book and trial report of the ship maneuverability for the new-built ship and those ship which entering their countries’ water area. On the other hand, with the development of the inland river shipping, the scale of the inland river ship and fleet become more and more huge, especially for those huge fleet which can be look on as corpulent ship with shallow draught. To ensure the security of the navigation, the special maneuverability is needed for them to passing through the bridge safely.The research field of the ship maneuverability includes the ship’s movement performance and the natural and water environment (such as wind, wave, current, shallow and narrow waterways)’s influence on the ship’s performance. However, estimating the ship’s maneuverability and judging that if the ship has met the standard, is the foremost task in the research on ship maneuverability. In the past time, people are often concerned about the maneuverability in the still water, forexample, the course-keeping stability, turning ability and so on. But in the real navigation, ship will suffer from the influence of wind, wave and current. Furthermore, most of the maritime accidents are often happened in the atrocious weather condition, supported by the hurricane and storm. The research on the ship maneuverability in the wind, wave and current, can not only be used to optimize the maneuverability design in the ship design stage, help to understand the mechanics of ship collision and capsizal, but also guide the handling operator to improve the handling skill, guard against the sea accident. Therefore, the study is significant both theoretically and practically. As a result, the studying aim of this paper is to establish a practical and complete system for the prediction of ship maneuvering motion, taking into account of the influence of the environmental factors, such as the wind, wave and current, establish a practical and complete system for the prediction of ship maneuvering motion.In this paper, the OpenGL virtual reality simulation technique is introduced into the field of ship maneuver and control, and using the MMG mathematical model, the three dimensional dynamic simulation system of the ship motion is established and good results are achieved.In the process of the system development, firstly, the maneuvering motion equations for ship in the still water are established, based on the MMG module mathematical model and serial experimental result. After compiling the program, the calculation results are compared with the experimental data, the coherence between them validate the mathematical model. And then, to understand the sensitivity of the parameter in the MMG mathematical model to the maneuvering index, based on the above program, the author alter certain model parameters, then discuss the change of the maneuvering index, the sensitivity of the ma更多还原