三峡回水变动区船舶航行路径优化及三维环境仿真研究
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摘要
根据三峡水库运行规则,每年汛期前水位将消落至145m,枯水期前蓄水至175m。通常将库区水位蓄涨和消落称为回水变动,受回水变动影响的航段称为回水变动区。通过近几年三峡水库的运行情况来看,根据回水变动区的水文特征,将重庆涪陵李渡长江大桥至长江重庆江津段白沙沱之间的水域称为回水变动区,航道里程的范围为长江上游547.8km至704.0km。
三峡水库蓄水后,库区水面变宽变深,通航条件总体明显改善,但其回水变动区既具有库区航道特征又具有山区天然航道特征,回水变动区河道弯曲、跨江桥梁林立、浅滩暗礁较多,船舶通航环境较为复杂,尚不具备实行船舶航路改革的条件,船舶航行路径有待优化,船舶助导航设施或方法有待进一步提高。本文通过对三峡水库回水变动区船舶航行环境的分析和评价,得出通航水流条件是影响该区域船舶航行安全的关键因素之一,通过对三峡水库回水变动区在消落期的水流流场进行数值模拟,分析了典型河段的碍航水流特征,并运用人工智能的方法对船舶在复杂通航水流条件下的航行路径进行了优化,构建了融合数值流场的内河船舶三维航行虚拟现实系统。本文的主要研究内容有：
(1)通过对回水变动区海事事故险情数据的时空特性进行研究,对影响船舶航行安全的关键因素进行了提取,得出了通航水流条件是影响回水变动区船舶航行安全的关键因素之一。
(2)考虑内河航道岸线的不规则性,建立了正交曲线坐标系下二维水流数学模型并进行了验证。
(3)利用经验证的水流数学模型对典型的桥区河段、弯曲河段、支流河口河段流场进行了数值模拟,并对各河段的通航水流条件进行了研究。
(4)基于水流数值模拟,综合运用人工智能优化算法对内河船舶航行路径进行优化,并对内河船舶过河过程中的航行路径进行优化控制。
(5)应用三维建模与仿真技术,建立三维船舶航行环境仿真模型,在此基础上实现水流数值模拟与三维仿真系统的交互,构建融合数值流场的三维船舶航行环境虚拟现实系统。
本论文的创新主要体现在以下几点：
(1)构建了三峡水库回水变动区航行环境风险评价指标体系和评价模型,并提取了回水变动区通航安全的关键因素；
(2)综合运用水流数值模拟技术和人工智能算法,构建了航道断面的流速分布函数和符合船舶航行路径优化目标的适应度函数及控制函数,提出了一种复杂通航水流条件区域的船舶航行路径优化方法；
(3)构建了三峡库区回水变动区融合数值流场的三维通航环境虚拟现实系统。
优化的船舶航行路径及融合数值水流的船舶航行三维环境可为船舶驾驶员和航运管理部门提供决策参考。通过船舶航行路径的优化找出最佳的过河方案,在融合数值水流的船舶航行三维环境里直观的判断主流、缓流以及碍航水流和浅滩,使船舶航行更安全。本文的研究为实现三峡库区回水变动段船舶安全、经济的航行提供良好的技术保障,在一定程度上促进三峡库区航运事业的蓬勃发展。
According to the operating rules of Three Gorges Reservoir, water level would be degraded to 145m before flood season, while it would reach 175m before dry season, which was generally called fluctuating backwater. The channel influenced by fluctuating backwater was named fluctuating backwater area. From the operation of Three Gorges Reservoir in recent years and hydrological characteristics of fluctuating backwater area, water area from Chongqing Lidu Yangtze River Bridge,547.8km of upper reaches of the Yangtze River, to Bai Shatuo of Jiangjin section of Yangtze River,704.0km of upper reaches of the Yangtze River was called fluctuating backwater area.
The impoundment in the Three Gorges Reservoir made the water area wide and deep, which improved its navigation condition apparently, whereas the area of fluctuant backwater in the Three Gorges Reservoir was still characterized by the natural navigation route of mountain area and the navigation environment was complex, therefore, the unreformed channel should be optimized. Besides, with a lot of channel bends, crossing-river bridges, shelves and shoals, maritime accidents frequently occurred in this area and navigational aids or methods should be improved.The flow condition was proved to be one of the crucial factors for sailing safety by the result of analysis and evaluation of navigation environment of this area. In this paper, based on numerically simulated flow field during the period of falling stage, the character of navigation-obstructing flow in the typical channel was analyzed and the navigation path under the complicated water flow was optimized with artificial intelligence and three-dimensional virtual navigation system with the fusion of numerical water flow information was established under the virtual reality technology. The main research contents were listed as follows:
(1)Through the temporal and spatial statistics of maritime accident in the area of fluctuant backwater and extraction of the key factor influencing sailing safety, navigation flow condition was regarded as one of crucial factors influencing sailing safety.
(2)Because of the irregular inland river coastline, two-dimensional flow model under orthogonal curvilinear coordinate system was established and verified.
(3) The verified flow mathematical model was used to simulate numerically flow field in the typical channel around bridge, bending channel and branch river estuary.
(4) On flow numerical simulation basis, artificial intelligence optimization was comprehensively applied to optimize inland river navigation path and control navigation path of ship crossing river.
(5) Three-dimensional navigation environment simulation model was constructed with the three-dimensional modeling and simulation technology. Based on that, three-dimensional virtual navigation system with the fusion of numerical water flow information was established under the interaction of flow numerical simulation and 3D simulation system.
The innovation points in this paper were listed as followed:
(1) Navigation environment risk estimation index system in the area of fluctuant backwater of the Three Gorges Reservoir was proposed based on the analysis of temporal and spatial statistics of maritime accident and accident-causing theory. Navigation environment risk assessment model was established through information entropy theory and unascertained theory. Besides, the key factors influencing traffic safety in this area were extracted.
(2) Fitness function according with optimized goal of navigation path was designed with comprehensive application of flow numerical simulation technique and Artificial Intelligence Algorithms. Vessel crossing river were affected by different water pressures, therefore, velocity distribution function of channel section was constructed and control function of navigation path optimization was designed and optimal control of navigation path of ship crossing river was proposed.
(3) Three-dimensional virtual navigation system with the fusion of numerical water flow information was constructed for flow condition of navigation intuitively.
The optimizing navigation route and three-dimensional navigation environment fused with numerical water flow information provided pilot and shipping management department with decisive reference. The optimized navigation channel help confirm the best crossing river point. Besides, pilot can judge main and slow flow as well as avoid shoals intuitionally through three-dimensional virtual navigation system with the fusion of numerical water flow information. The research provided a good technical support for rapid, safe and economic sailing the area of fluctuant backwater of Three Gorge Reservoir and stimulates the prosperity of Marine Shipping Industry in Three Gorge Reservoir.
三峡水库蓄水后,库区水面变宽变深,通航条件总体明显改善,但其回水变动区既具有库区航道特征又具有山区天然航道特征,回水变动区河道弯曲、跨江桥梁林立、浅滩暗礁较多,船舶通航环境较为复杂,尚不具备实行船舶航路改革的条件,船舶航行路径有待优化,船舶助导航设施或方法有待进一步提高。本文通过对三峡水库回水变动区船舶航行环境的分析和评价,得出通航水流条件是影响该区域船舶航行安全的关键因素之一,通过对三峡水库回水变动区在消落期的水流流场进行数值模拟,分析了典型河段的碍航水流特征,并运用人工智能的方法对船舶在复杂通航水流条件下的航行路径进行了优化,构建了融合数值流场的内河船舶三维航行虚拟现实系统。本文的主要研究内容有：
(1)通过对回水变动区海事事故险情数据的时空特性进行研究,对影响船舶航行安全的关键因素进行了提取,得出了通航水流条件是影响回水变动区船舶航行安全的关键因素之一。
(2)考虑内河航道岸线的不规则性,建立了正交曲线坐标系下二维水流数学模型并进行了验证。
(3)利用经验证的水流数学模型对典型的桥区河段、弯曲河段、支流河口河段流场进行了数值模拟,并对各河段的通航水流条件进行了研究。
(4)基于水流数值模拟,综合运用人工智能优化算法对内河船舶航行路径进行优化,并对内河船舶过河过程中的航行路径进行优化控制。
(5)应用三维建模与仿真技术,建立三维船舶航行环境仿真模型,在此基础上实现水流数值模拟与三维仿真系统的交互,构建融合数值流场的三维船舶航行环境虚拟现实系统。
本论文的创新主要体现在以下几点：
(1)构建了三峡水库回水变动区航行环境风险评价指标体系和评价模型,并提取了回水变动区通航安全的关键因素；
(2)综合运用水流数值模拟技术和人工智能算法,构建了航道断面的流速分布函数和符合船舶航行路径优化目标的适应度函数及控制函数,提出了一种复杂通航水流条件区域的船舶航行路径优化方法；
(3)构建了三峡库区回水变动区融合数值流场的三维通航环境虚拟现实系统。
优化的船舶航行路径及融合数值水流的船舶航行三维环境可为船舶驾驶员和航运管理部门提供决策参考。通过船舶航行路径的优化找出最佳的过河方案,在融合数值水流的船舶航行三维环境里直观的判断主流、缓流以及碍航水流和浅滩,使船舶航行更安全。本文的研究为实现三峡库区回水变动段船舶安全、经济的航行提供良好的技术保障,在一定程度上促进三峡库区航运事业的蓬勃发展。
According to the operating rules of Three Gorges Reservoir, water level would be degraded to 145m before flood season, while it would reach 175m before dry season, which was generally called fluctuating backwater. The channel influenced by fluctuating backwater was named fluctuating backwater area. From the operation of Three Gorges Reservoir in recent years and hydrological characteristics of fluctuating backwater area, water area from Chongqing Lidu Yangtze River Bridge,547.8km of upper reaches of the Yangtze River, to Bai Shatuo of Jiangjin section of Yangtze River,704.0km of upper reaches of the Yangtze River was called fluctuating backwater area.
The impoundment in the Three Gorges Reservoir made the water area wide and deep, which improved its navigation condition apparently, whereas the area of fluctuant backwater in the Three Gorges Reservoir was still characterized by the natural navigation route of mountain area and the navigation environment was complex, therefore, the unreformed channel should be optimized. Besides, with a lot of channel bends, crossing-river bridges, shelves and shoals, maritime accidents frequently occurred in this area and navigational aids or methods should be improved.The flow condition was proved to be one of the crucial factors for sailing safety by the result of analysis and evaluation of navigation environment of this area. In this paper, based on numerically simulated flow field during the period of falling stage, the character of navigation-obstructing flow in the typical channel was analyzed and the navigation path under the complicated water flow was optimized with artificial intelligence and three-dimensional virtual navigation system with the fusion of numerical water flow information was established under the virtual reality technology. The main research contents were listed as follows:
(1)Through the temporal and spatial statistics of maritime accident in the area of fluctuant backwater and extraction of the key factor influencing sailing safety, navigation flow condition was regarded as one of crucial factors influencing sailing safety.
(2)Because of the irregular inland river coastline, two-dimensional flow model under orthogonal curvilinear coordinate system was established and verified.
(3) The verified flow mathematical model was used to simulate numerically flow field in the typical channel around bridge, bending channel and branch river estuary.
(4) On flow numerical simulation basis, artificial intelligence optimization was comprehensively applied to optimize inland river navigation path and control navigation path of ship crossing river.
(5) Three-dimensional navigation environment simulation model was constructed with the three-dimensional modeling and simulation technology. Based on that, three-dimensional virtual navigation system with the fusion of numerical water flow information was established under the interaction of flow numerical simulation and 3D simulation system.
The innovation points in this paper were listed as followed:
(1) Navigation environment risk estimation index system in the area of fluctuant backwater of the Three Gorges Reservoir was proposed based on the analysis of temporal and spatial statistics of maritime accident and accident-causing theory. Navigation environment risk assessment model was established through information entropy theory and unascertained theory. Besides, the key factors influencing traffic safety in this area were extracted.
(2) Fitness function according with optimized goal of navigation path was designed with comprehensive application of flow numerical simulation technique and Artificial Intelligence Algorithms. Vessel crossing river were affected by different water pressures, therefore, velocity distribution function of channel section was constructed and control function of navigation path optimization was designed and optimal control of navigation path of ship crossing river was proposed.
(3) Three-dimensional virtual navigation system with the fusion of numerical water flow information was constructed for flow condition of navigation intuitively.
The optimizing navigation route and three-dimensional navigation environment fused with numerical water flow information provided pilot and shipping management department with decisive reference. The optimized navigation channel help confirm the best crossing river point. Besides, pilot can judge main and slow flow as well as avoid shoals intuitionally through three-dimensional virtual navigation system with the fusion of numerical water flow information. The research provided a good technical support for rapid, safe and economic sailing the area of fluctuant backwater of Three Gorge Reservoir and stimulates the prosperity of Marine Shipping Industry in Three Gorge Reservoir.
引文
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