【作者】 李万超；

【导师】 金一丞；

【作者基本信息】 大连海事大学 ， 交通信息工程及控制， 2004， 硕士

【摘要】 目前，大型船舶操纵模拟器已经广泛的应用在人员培训、航道设计、方案论证和模拟试验等领域，并取得了可喜的成果。随着船舶向大型化，甚至是超大型化发展，对大船的操纵变得越来越困难，比如：进出港：靠、离泊位等。在这种情况下，拖轮协助大船进行操纵已经成为一个帮助大型船舶进出港；靠、离泊位的重要手段。从逐步完善大型航海模拟器的角度看，把拖轮作为一个本船加入到航海模拟器中来，真实地模拟拖轮与大型船舶共同操纵是非常必要的。它不仅给大型船舶驾驶员真实的拖轮助操效果，同时也为拖轮驾驶员提供了逼真的操纵环境。由STCW78／95公约对具有三维视景的航海模拟器的规定和航海模拟器应用领域的需求可以看出，航海模拟器要为操作者提供尽可能逼真而完善的操作环境。其中，船舶操纵数学模型和三维视景占有比较突出的地位，视景的好坏和船舶操纵数学模型的准确与否是整个航海模拟器系统成败的关键所在。 本文对拖轮操纵模拟器应具备的视景系统、操纵环境及拖轮运动模型的特点等问题进行了分析研究。采用MMG分离建模的思想建立了一个较为精确、较为完整的拖轮操纵数学模型。在建模过程中，作者对坐标系的建立、裸体船的水动力计算、直航阻力的计算、螺旋桨处的伴流系数、推力减额系数的计算、导管桨的四象限推力系数、转矩系数的计算、双桨的推力、横向力、转矩的计算、主机的计算模型等问题进行了详细的分析，建立了一个适用于当前大型航海模拟器的三自由度的拖轮操纵运动数学模型。除此之外，作者还对拖轮在顶推、拖带等工况下的运动数学模型进行了初步的研究，提出了一些简化的拖轮运动数学模型。在建立的运动模型的基础上，采用三维建模软件建立了真三维的拖轮船体几何模型，利用场景管理软件OpenGVS开发了视景驱动程序，将拖轮作为一个独立的本船加入到航海模拟器中来，并在航海模拟器的三维视景系统中对拖轮加以显示。最后，还以悬链线作为缆绳的数学模型，经过几何变换将悬链线转化为三维模型，根据缆绳的长度、出缆点和缆桩的坐标信息在航海模拟器的视景系统中对缆绳进行实时显示。更多还原

【Abstract】 Presently, large ship handling simulator has been used widely in seafarers training, sea route design, project argumentation and simulating test, and delightful result has been obtained. As the development of vessels’ becoming larger and larger even extremely larger, manipulating vessels becomes difficult more and more, such as: entering or leaving port, berthing or unberthing etc. Under this condition, tug’s assistance to large ships has been become an important means to help large ship enter or leave port. From the point of view of improving large ship handling simulator, it’s necessary to adding the tug model to ship handling simulator as an own ship that can simulate the manipulability between tug and large ship. It can provide real effects of tug’s assistance to ship officer but also provide a vivid manipulating environment to tug officer.According to the request for application field of the ship handling simulator with 3-D scene system in the STCW/78/95, we know that ship handling simulator should provide manipulating environment as vivid and perfect as possible to ship officers.Here, ships manoeuvring mathematical model and 3-D scene system are the most important parts. Stand or fall of scene and nicety or not of the ship manoeuvring mathematical model are the key of the whole ship handling simulator.This paper did some researches on characteristics of scene system, manipulating environment and tug mathematical model in tug simulator. According to the MMG’s separated modeling theory, an integrated and accurate mathematical model is established. During the course of modeling, constitution of coordinate system, calculation of ship hull force, calculation of water resistance, calculation of wake fraction of propeller and thrust deduction factor, calculation of thrust and torque coefficient of ducted propeller, calculation of thrust, transverse force and torque of twin-stern propeller, mathematical model of main engine have been talked about in detail. Then, a 3 DOF tug manoeuvring mathematical model is established which can be applied to the large ship handling simulator. Furthermore, this paper does some elementary researches on mathematical model of tug’s pushing and pulling and provides a simple mathematical model.Based on the established mathematical model, the author establishes a real 3D geometrical model of tug ship with 3D modeling software, develops a 3D engine of scene system with OpenGVS, adds the tug as a ownship to ship handling simulator and displays the tug model in the scene system. In the end, the author uses catenary as mathematical model of mooring lines, transforms centenary to 3-D model with geometrical transform, real-time displays the mooring lines in the scene system of ship handling simulator according to the coordinate information of length of mooring lines, mooring point and mooring stakes.更多还原