【作者】 高孝日；

【导师】 洪碧光；

【作者基本信息】 大连海事大学 ， 交通信息工程及控制， 2008， 硕士

【摘要】 为了更加安全和高效地驾驶船舶,拖船辅助操纵已经成为保证港内安全航行不可缺少的重要手段,因此,对拖船在港内操纵性能的研究显得尤为重要。本文介绍一种技术成熟、港内操纵性能优良,但在我国港口还没有得到广泛应用的拖船,即平旋推进拖船(VSP型拖船),并对其运动特性进行深入的研究。在总结国内外已公开资料的基础上,吸取了日本MMG建模思想,建立一组较为精确、完整的平旋推进拖船的运动方程。常速域下水动力采用贵岛胜郎的计算模型,并考虑了横倾运动的情况。对拖船的直航和旋回运动进行仿真,仿真结果表明:文中建立的数学模型能够反映出常速情况下拖船的运动状况。低速域下水动力采用芳村康南的计算模型。通过对平旋桨操纵角度的调整,实现了平旋推进拖船的横移运动和原地旋回运动的仿真,仿真结果体现了该类型拖船的优良操纵性能。为了解MMG数学模型中水动力导数的变化对操纵运动方程的影响程度,本文对个别水动力导数进行偏移修正,探讨了相应导数变化后对操纵方程的影响,并给出影响曲线。本课题的研究结果比较客观地描述了拖船的自身运动特性,对拖船驾驶人员安全的操纵船舶有着理论上的指导意义,为拖船操纵安全评估提供了理论参考依据,同时也为航海模拟器的研制与开发提供一定的理论基础。更多还原

【Abstract】 In order to steer the ship more safely and efficiently, tug assisted have become indispensable means for safe navigation in harbors. So, it is particularly important to study the maneuverability. This paper presented a type of tugboat with mature technology, excellent performance, but has not been widely used in harbors of our country. That is, VSP-Tug .This article also have an in-depth study on its maneuvering Performance. On the basis of information which has been released public home and abroad, by using method of MMG modeling, this paper established a group of more accurately and completely equations of VSP-Tug’s motionOn the condition of normal speed , hydrodynamic force was calculated by Kijima model ,at the same time, considered the heel motion of the tug. Then simulated the motion of turning and direct way of tug. The simulation results show that the mathematical model can reflect the motion.On the condition of low speed, hydrodynamic force was calculated by Yoshimura model. By regulating the angle of propeller, we can realize the motion of sideway or turning on the spot. The results show that VSP-tug has excellent handling performance.To understand the changes of the hydrodynamic derivative has the degree of influence on the equations of motion .This paper tried to offset the individual derivative and discuss the manipulation of equation by changing the corresponding derivative, and depicted the affected curve.This research more objectively descript tug’s movement and provide a theoretical reference for manipulation of the safety assessment of the tug. It also provides a theoretical foundation to Navigation Simulator Research and Development.更多还原