半潜船操纵运动仿真研究
|
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。
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.
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。
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.
引文
[1]冯志根.大型半潜船发展前景[丁].船舶设计.No.1-2,2001.
[2]http://news.21cn.com/domestic/guoshi/2002-12-18/875632.html
[3]http://www.zgsyb.com/hrticle/hrticleShow,asp?hrticleID=491
[4]Anon.Podded ulsors:h viable option for future warships[J].Warship Technology,2003(1):21-23P
[5]LongR.The future aircraft carrier-CVF[A].Proceedings of Podded Drives Industry Day[C].Bristol,UK.2002
[6]蔡睿眸.18000 t半潜船的开发.广船科技.NO.4,2001
[7]Allenstrom B.OPTIPOD-an EU-funded project for the development of podded ships[J].NAVLARCHITECT,2000.(10):48-49P
[8]The partners of the FASTPOD COnsortium.Fast ship applications for POD drives-FASTPOD project[A].In:Attar M,Clarke D,Glover E J et al.eds.Proceedings of the first International Conference on Technological Advances in Podded Propulsion[C].University of Newcastle,UK.2004.Newcastle,UK.University of Newcastle,2004.15-23P.
[9]Dr.Dirk Jurgens,Torsten Moltrecht,Marcel Flipse.Cycloidal Propulsion-the Quiet Maneuvering Propulsion for large Motor Yachts.18th International HISWA Symposium on Yacht Design and Yacht Construction.Novermber 15-16 2004.
[10]Allenstrom B.OPTIPOD-an EU-funded project for the development of podded ships[J].NAVALARCHITECT,2000.(10):48-49P
[11]The partners of the FASTPOD Consortium.Fast ship applications for POD drives-FASTPOD project[A].In:Attar M,Clarke D,Glover E Jet al.eds.Proceedings of the first International Conference on Technological Advances in Podded Propulsion[C].University of Newcastle,UK.2004.Newcastle,UK.University of Newcastle,2004.15-23P.
[12]Ma Cheng,Qian Zheng-fang,Yang Chenjun,etal.Research onhydrodynamic computation model of pod propulsion[A].In:Atlar M,Clarke D,Glover E J,et al.eds.Proceedings of the first International.Conference on Technological Advances in Podded Propulsion[C].University of Newcastle,UK.2004.Newcastle,UK.University of Newcastle,2004.527-547P.
[13]Ghassemi H,Allievi A.A computational method for the analysis of fluid flow and hydrodynamic performance of conventional and podded propulsion systems[J]. Oceanic Engineering International,1999.3(1):101-115P
[14]Achkinadze A S,Berg A,Krasilnikov V I et al.Numerical analysis of podded and steering systems using a velocity based source boundary element method with modified trailing edge[A].Proceedings of the Propellers/Shafting' 2003Symposium[C].Virginia Beach,VA,USA,2003.(12)1-22P
[15]Achkinadze A S,Krasilnikov V I.A new velocity based BEM for analysis of non-cavitating and cavitating propellers and foils[J].Oceanic Engineering International,2003.7(1):33-47P.
[16]http://www.coscogz.com.cn/gzyy/lgzyy/200212/news/0204.htm
[17]http://www.chinagsi.com/cn/news/show_news.asp?id=6
[18]#12
[19]浜本剛実.MMG報告Ⅱ操縱性数学モテルの理論背景,日本造船学会誌,1977.No.577,P322-329
[20]#12
[21]小瀨,貴島.MMG報告Ⅳ拘束操縱性試験の方法及び試驗装置,日本造船学会誌,1977,No.579,P404-413
[22]藤野,葛西,小林.MSS報告Ⅰ低速·浅水域操縱運動数学モテルの檢討,日本造船学会誌,1989,No.717,P122-129
[23]#12
[24]#12
[25]小瀨,深沢,末光等.MSS報告Ⅳ低速時の操縱運動モテルの実用化,日本造船学会誌,1989,No.721.P403-411
[26]Nomenclature for Treating the Motion of a Submerged Body Through,SNAME Technical and Research Bulletin,1952,P1-5.
[27]Norrbin N.H.,Theory and Observation on the Use of a Mathematical Model for Ship Maneuvering in Deep and Confined Waters,Publication of SSPA.Sweden,1970,No.68.
[28]李世谟,周俊麟.船舶阻力,1984,武汉水运工程学院.
[29]黄鼎良,张忠业,王言英.船舶推进与阻力(第一版).大连:大连理工大学出版社,1989.
[30]贾欣乐 杨盐生.船舶运动数学模型--机理建模与辨识建模,第一版,1999,大连海 事大学出版社,1-443.
[31]翁史烈.船舶动力装置仿真技术.上海:上海交通大学出版社,1991.
[32]孙洪波.螺旋桨逆转工况下船舶运动建摸与仿真:(硕士学位).大连:大连海事大学,2007.
[33]#12
[34]#12
[35]Norrbin N.H.,Theory and Observation on the Use of a Mathematical Model for Ship Maneuvering in Deep and Confined Waters,Publication of SSPA.Sweden,1970,No,68
[36]刘正江.船舶倒车停止性能的研究:(硕士学位).大连:大连海事大学,1987.
[37]#12
[38]#12
[39]杨盐生.低速域船体流体动力的实用估算法.大连海事大学学报,1998,24(2):6-10.
[40]芳村康男.浅水域の操纵运动数学モデルの检讨(第2报).No.210,1988:77-83.
[41]聂延生,李伟光,汪涌泉.SSP推进器系统原理及特点分析.船电技术,2002年第1期.
[42]翁存海.国外船用永磁电动机的研制及应用前景.航电技术,2000年第4期
[43]上海市3203信箱.船用螺旋桨设计参考资料.708所.1971.
[44]鲁谦,李连有,李来成.船舶原理手册.北京:国防工业出版社,1988.
[45]#12
[46]杨盐生,方祥麟.港内拖轮协助操船仿真数学模型的研究,中国航海,1997第2期,P 19-24
[47]小顺平尾,吉川中川.港内曳船。性能忆阴寸石研究,日本造船学会输文集,1987,第162号,pp.133-138
[48]芳村康男.浅水域の操縱運動数学モデルの檢討(第2報),閔西造船協会誌,1988,No.210
[49]郭国平.船舶倒航舵效及操纵注意事项.航海技术,1997第4期:16-19.
[50]小瀨,深沢,末光等.MSS報告Ⅳ低速時の操縱運動モデルの実用化.日本造船学会誌,1989,No.721:403-411.
[51]赵月林.浅水低速状态下操纵运动数学模型研究.大连海事大学学报,1992,18(3):242-246.
[52]A.M.巴辛[苏].浅水船舶流体动力学(第一版).北京:能源出版社,1987.
[53]赵月林.浅水中船舶操纵运动的模拟计算.大连海事大学学报,1990,16(4):337-343
[54]藤野,葛西,小林.MSS報告I低速·浅水域操縱運動数学モデルの檢討,日本造船学会誌,1989,No,717,P122-12ITTC,2002,202-203.
[55]Horn F.Querhrrafte am propeller bei schraganstromung,speziell bei manovriervorgangen.Shchiffstechnik Heft 20.Band 4,1957.
[56]#12
[57]#12
[58]Grygorowlcz M Szantyr J A.Open water experiments with two pod propulsor models[A].In:Attar M,Clarke D,Glover E J,et al.eds Proceedings of the first International Conference on Technological Advance in Podded Propulsion[C].University of Newcastle,UK.2004.Newcastle,UK.University of Newcastle,2004.357-370P.
[59]Grygorowicz M,Szantyr J A.Open water experiments with two pod propulsor models[A].In:Attar M,Clarke D,Glover E J,et al.eds Proceedings of the first International Conference on Technological Advance in Podded Propulsion[C].University of Newcastle,UK.2004.Newcastle,UK.University of Newcastle,2004.357-370P.
[60]李庆阳,王能,易大义.数值分析,第3版,2000,华中理工大学出版社,P154-203.
[2]http://news.21cn.com/domestic/guoshi/2002-12-18/875632.html
[3]http://www.zgsyb.com/hrticle/hrticleShow,asp?hrticleID=491
[4]Anon.Podded ulsors:h viable option for future warships[J].Warship Technology,2003(1):21-23P
[5]LongR.The future aircraft carrier-CVF[A].Proceedings of Podded Drives Industry Day[C].Bristol,UK.2002
[6]蔡睿眸.18000 t半潜船的开发.广船科技.NO.4,2001
[7]Allenstrom B.OPTIPOD-an EU-funded project for the development of podded ships[J].NAVLARCHITECT,2000.(10):48-49P
[8]The partners of the FASTPOD COnsortium.Fast ship applications for POD drives-FASTPOD project[A].In:Attar M,Clarke D,Glover E J et al.eds.Proceedings of the first International Conference on Technological Advances in Podded Propulsion[C].University of Newcastle,UK.2004.Newcastle,UK.University of Newcastle,2004.15-23P.
[9]Dr.Dirk Jurgens,Torsten Moltrecht,Marcel Flipse.Cycloidal Propulsion-the Quiet Maneuvering Propulsion for large Motor Yachts.18th International HISWA Symposium on Yacht Design and Yacht Construction.Novermber 15-16 2004.
[10]Allenstrom B.OPTIPOD-an EU-funded project for the development of podded ships[J].NAVALARCHITECT,2000.(10):48-49P
[11]The partners of the FASTPOD Consortium.Fast ship applications for POD drives-FASTPOD project[A].In:Attar M,Clarke D,Glover E Jet al.eds.Proceedings of the first International Conference on Technological Advances in Podded Propulsion[C].University of Newcastle,UK.2004.Newcastle,UK.University of Newcastle,2004.15-23P.
[12]Ma Cheng,Qian Zheng-fang,Yang Chenjun,etal.Research onhydrodynamic computation model of pod propulsion[A].In:Atlar M,Clarke D,Glover E J,et al.eds.Proceedings of the first International.Conference on Technological Advances in Podded Propulsion[C].University of Newcastle,UK.2004.Newcastle,UK.University of Newcastle,2004.527-547P.
[13]Ghassemi H,Allievi A.A computational method for the analysis of fluid flow and hydrodynamic performance of conventional and podded propulsion systems[J]. Oceanic Engineering International,1999.3(1):101-115P
[14]Achkinadze A S,Berg A,Krasilnikov V I et al.Numerical analysis of podded and steering systems using a velocity based source boundary element method with modified trailing edge[A].Proceedings of the Propellers/Shafting' 2003Symposium[C].Virginia Beach,VA,USA,2003.(12)1-22P
[15]Achkinadze A S,Krasilnikov V I.A new velocity based BEM for analysis of non-cavitating and cavitating propellers and foils[J].Oceanic Engineering International,2003.7(1):33-47P.
[16]http://www.coscogz.com.cn/gzyy/lgzyy/200212/news/0204.htm
[17]http://www.chinagsi.com/cn/news/show_news.asp?id=6
[18]#12
[19]浜本剛実.MMG報告Ⅱ操縱性数学モテルの理論背景,日本造船学会誌,1977.No.577,P322-329
[20]#12
[21]小瀨,貴島.MMG報告Ⅳ拘束操縱性試験の方法及び試驗装置,日本造船学会誌,1977,No.579,P404-413
[22]藤野,葛西,小林.MSS報告Ⅰ低速·浅水域操縱運動数学モテルの檢討,日本造船学会誌,1989,No.717,P122-129
[23]#12
[24]#12
[25]小瀨,深沢,末光等.MSS報告Ⅳ低速時の操縱運動モテルの実用化,日本造船学会誌,1989,No.721.P403-411
[26]Nomenclature for Treating the Motion of a Submerged Body Through,SNAME Technical and Research Bulletin,1952,P1-5.
[27]Norrbin N.H.,Theory and Observation on the Use of a Mathematical Model for Ship Maneuvering in Deep and Confined Waters,Publication of SSPA.Sweden,1970,No.68.
[28]李世谟,周俊麟.船舶阻力,1984,武汉水运工程学院.
[29]黄鼎良,张忠业,王言英.船舶推进与阻力(第一版).大连:大连理工大学出版社,1989.
[30]贾欣乐 杨盐生.船舶运动数学模型--机理建模与辨识建模,第一版,1999,大连海 事大学出版社,1-443.
[31]翁史烈.船舶动力装置仿真技术.上海:上海交通大学出版社,1991.
[32]孙洪波.螺旋桨逆转工况下船舶运动建摸与仿真:(硕士学位).大连:大连海事大学,2007.
[33]#12
[34]#12
[35]Norrbin N.H.,Theory and Observation on the Use of a Mathematical Model for Ship Maneuvering in Deep and Confined Waters,Publication of SSPA.Sweden,1970,No,68
[36]刘正江.船舶倒车停止性能的研究:(硕士学位).大连:大连海事大学,1987.
[37]#12
[38]#12
[39]杨盐生.低速域船体流体动力的实用估算法.大连海事大学学报,1998,24(2):6-10.
[40]芳村康男.浅水域の操纵运动数学モデルの检讨(第2报).No.210,1988:77-83.
[41]聂延生,李伟光,汪涌泉.SSP推进器系统原理及特点分析.船电技术,2002年第1期.
[42]翁存海.国外船用永磁电动机的研制及应用前景.航电技术,2000年第4期
[43]上海市3203信箱.船用螺旋桨设计参考资料.708所.1971.
[44]鲁谦,李连有,李来成.船舶原理手册.北京:国防工业出版社,1988.
[45]#12
[46]杨盐生,方祥麟.港内拖轮协助操船仿真数学模型的研究,中国航海,1997第2期,P 19-24
[47]小顺平尾,吉川中川.港内曳船。性能忆阴寸石研究,日本造船学会输文集,1987,第162号,pp.133-138
[48]芳村康男.浅水域の操縱運動数学モデルの檢討(第2報),閔西造船協会誌,1988,No.210
[49]郭国平.船舶倒航舵效及操纵注意事项.航海技术,1997第4期:16-19.
[50]小瀨,深沢,末光等.MSS報告Ⅳ低速時の操縱運動モデルの実用化.日本造船学会誌,1989,No.721:403-411.
[51]赵月林.浅水低速状态下操纵运动数学模型研究.大连海事大学学报,1992,18(3):242-246.
[52]A.M.巴辛[苏].浅水船舶流体动力学(第一版).北京:能源出版社,1987.
[53]赵月林.浅水中船舶操纵运动的模拟计算.大连海事大学学报,1990,16(4):337-343
[54]藤野,葛西,小林.MSS報告I低速·浅水域操縱運動数学モデルの檢討,日本造船学会誌,1989,No,717,P122-12ITTC,2002,202-203.
[55]Horn F.Querhrrafte am propeller bei schraganstromung,speziell bei manovriervorgangen.Shchiffstechnik Heft 20.Band 4,1957.
[56]#12
[57]#12
[58]Grygorowlcz M Szantyr J A.Open water experiments with two pod propulsor models[A].In:Attar M,Clarke D,Glover E J,et al.eds Proceedings of the first International Conference on Technological Advance in Podded Propulsion[C].University of Newcastle,UK.2004.Newcastle,UK.University of Newcastle,2004.357-370P.
[59]Grygorowicz M,Szantyr J A.Open water experiments with two pod propulsor models[A].In:Attar M,Clarke D,Glover E J,et al.eds Proceedings of the first International Conference on Technological Advance in Podded Propulsion[C].University of Newcastle,UK.2004.Newcastle,UK.University of Newcastle,2004.357-370P.
[60]李庆阳,王能,易大义.数值分析,第3版,2000,华中理工大学出版社,P154-203.