【作者】 惠子刚；

【导师】 洪碧光；

【作者基本信息】 大连海事大学 ， 航海科学与技术， 2009， 硕士

【摘要】 随着世界各国对海洋石油开发力度的加大,半潜船的需求正日益增加。目前有远航能力的半潜船全世界仅有30余艘,由于该种船舶特殊,业界人士对于此类船舶缺少感性认识,对其操纵性研究更缺乏了解。因此,为了安全和高效的操纵船舶,对半潜船操纵性的研究显得尤为重要。为了准确地建立吊舱式推进器半潜船的操纵数学模型,本文在MMG所提出的常速域数学模型和浅水、低速、大漂角数学模型研究的基础上,考虑到船舶运动的连续性,本文采用了常速域下贵岛胜郎的计算模型和低速域下芳村康男的计算模型两种数学模型相结合的方法,建立了低速域、大漂角并兼顾小漂角的船舶运动数学模型。模型中对POD推进器的特性及原理进行了研究,参考Z型推进器原理,建立了POD螺旋桨的数学模型,将其推力作为外力叠加到半潜船运动数学模型中,且充分考虑了船体、桨的力及力矩,以及相互的干涉。常速域下水动力采用贵岛胜郎的计算模型,对半潜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域情况下半潜船的运动特性。低速域下水动力采用芳村康男的计算模型。通过对POD桨操纵角度的调整,实现了半潜船原地旋回运动的仿真,仿真结果体现了该类型POD推进器半潜船的优良操纵性能。为验证本文所提出的模型的正确性与可行性,本文利用MATLAB语言对半潜船操纵运动进行了仿真。通过与实船测试的数据的比较,发现吻合度很好,其误差满足工程应用,可用于半潜船操纵运动性能预报。更多还原

【Abstract】 With the increasing of offshore oil exploitation efforts in the world,the demand of semi-submerged vessel is growing.Currently,the number of seagoing semi-submerged vessels are only more than 30 around the world,because of the special nature of this kind of ship,the ship industries are lack of perceptual knowledge,and lack of understanding of the study of manoeuvrability.Therefore,for the safety and efficient ship’s maneuvering,the study of semi-submerged vessel becomes especially important.In order to establishing the maneuvering mathematical model of the semi-submerged vessel with POD propulsion more accurately,this paper bases on the combination of Kijima model and Yoshimura model.The model is suitable for the entire maneuvering range including normal speed,low speed,small and large drift angle and so on.,and the effect of shallow water is also well considered.In the model the characteristics and principle of POD propeller are being studied,and consulting Z type propeller principle,then establishing mathematic modelof POD propeller,in the motion mathematic model of submerged vessel overlaying whose propulsive force as the outside force,and considering the hull,oar force and force moment sufficiently,and mutual interference.In the condition of normal speed,hydrodynamic force is calculated by Kijima model,then this paper simulates the motion of turning and direct way the simulation results show that the mathematical model can reflect the motion of semi-submered vessel.In the condition of low speed,hydrodynamic force was calculated by Yoshimura model.By regulating the maneuvering angle of POD propeller,this paper attains the turning motion of semi-submered vessel on the original place.The results show that semi-submerged vessel with POD propulsion has excellent maneuverability.更多还原