平旋推进拖船的运动建模与仿真
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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。
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 motion
On 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.
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。
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 motion
On 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.
引文
[1]张洪雨,徐玉如,黄薇莉等.摆线推进器水动力性能研究海洋工程,1998,16(3):27-35.
[2]Hongyu Zhang and Yuru Xu.The research of maneuverability of underwater vehicle with cycloidal propellers,0-7803-4273-9/98 IEEE 1998.
[3]Davidson K,Schiff L.Turning and Course Keeping Qualities of Ships.SNAME Transactions,1964.
[4]Abkowitz M A.Lectures on Ship Hydrodynamics Steering and Manoeuvability.Hydro and aerodynamics Laboratory.Hydro and aerodynamics Laboratory,Lyngby,enmark,Report 1964.
[5]#12
[6]小瀨,貴島.MMG報告Ⅳ拘束操縦性試驗の方法及び試驗装置.日本造船学会誌,1977,No.579:404-413.
[7]乐美龙.船舶操纵性预报与港航操纵运动仿真.上海:上海交通大学出版社,2004.
[8]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.
[9]邹早建.船舶操纵性研究进展.上海:上海交通大学.2007.
[10]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.
[11]周昭明,盛子寅,冯悟时.多用途货船的操纵性预报计算.船舶工程,1983,(6):21-29.
[12]李美菁.船舶在风浪流及限制航道中多工况操纵运动模拟计算与操纵性能综合评判:(博士学位论文).武汉:武汉交通科技大学,1988.
[13]楼连根,黄国梁,刘天威.双桨双舵船操纵运输拘束模型试验及模拟计算.中国造船,1992,(03).
[14]吴鸿遇.直翼推进器的理论研究.哈尔滨船舶工程学院学报,1991,12(4):377-387.
[15]张洪雨,朱典明.三元非定常运动机翼流体动力特性的实验研究.哈尔滨船舶工程学院学报,1991.
[16]TUGSIM-Mathematical modeling of tugs.Force Technology.Skibsteksnisk Selskab 6/3-06.
[17]Zhang Xiufeng,Yin Yong,Jin Yicheng.The moving mathematical Models of Tug with Voith Schneider Propeller.PROCEEDINGS MARSIM,2006.
[18]Vioth Hydro Marine Technology,Safeguard of Tankers by Voith Water Tractors,Voith Hydro GmbH & Co.KG,Marine Technology,2005.
[19]S.Charters,et al.Analysis of Towed Vessel Course stability in Shallow Water.Trans.Of RINA.vol.127:247-258.
[20]#12
[21]Varyani,K.S.Course stability Problem Formulation.13"'International Conference on Hydrodynamics in ship design(HYDRONAV 99).
[22]杨盐生.船舶靠离泊操纵数学模型的研究.大连海事大学学报,1996,22(4):11-14.
[23]洪碧光.船舶操纵原理与技术.大连:大连海事大学出版社,2007.
[24]Tom van Terwisga,Fran Quadvlie,Herk Valkhof.Steerable Propulsion Units:Hydrodynamic issues and Design Consequence.The 80~(th)anniversary of schottel GmbH & Co,2001.
[25]J.-E.Bartels.Voith Water Tractor-the Hallmark of Improved ship safety.2000.
[26]陈向荣,马庆位.Magnus effec冰轮机性能的初步探讨.青岛海洋大学学报,1991,21(2):129-136.
[27]#12
[28]施内克鲁特.船舶水动力学(第一版).上海:上海交通大学出版社,1997.
[29]W.L.Haberman and E.E.Harley.Performance of vertical axis(cycloidal)propellers calculated by Taniguchi' s method.DTMB Report 1564,Nov,1961.
[30]朱典明.摆线推进器的理论计算方法.哈尔滨船舶工程学院学报,1982,(1):1-27.
[31]张洪雨,邢国英.摆线推进器任意方向角的水动力计算方法研究.水动力学研究与进展,2005,A20(4):472-478.
[32]钱晓南.直翼推进器的性能分析及其理论.中国造船,第51期:9-25.
[33]Jens-Erk Bartels,Dirk Jurgens.Latest Developments in Voith Schneider Propulsion Systems.The 18"' international tug & Salvage Convention.
[34]Dirk Jurgens.Active Roll Damping with Voith Schneider Propulsion.
[35]W.L.Haberman,E.B.Caster Performance of Vertical Axis(Cycloidal)Propellers According to Isay's Theory Int.Shipbuilding Progress Vol.9.No.90-February 1962
[36]N.L.Ficken and M.C.Dickerson Experimental performance and steering characteristics of cycloidal propellers[R].NSRDC Report 2983,Washington,July,1969
[37]鲁谦,李连有,李来成.船舶原理手册.北京:国防工业出版社,1988.
[38]贾欣乐,杨盐生.船舶运动数学模型-机理建模与辨识建模.大连:大连海事大学出版社,1999.
[39]于献孚等.计算船舶流体力学.上海:上海交通大学出版社,1992.
[40]#12
[41]吴秀恒.船舶操纵性与耐波性.人民交通出版社,1999.
[42]张乐文,周轶美,吴秀恒.操纵运动船体水动力计算.船舶工程,1999,(2):11-14.
[43]K.Kijima etal.On the manoeuvring performance of a ship with the parameter of loading condition.日本造船學會論文集,第168號,1990.
[44]N.H.Norrbin.Theory and observation on the use of a mathematical model for ship manoeuvring in deep and confined waters.Publication No.68 of SSPA.Sweden,1970.
[45]范尚雍编.船舶操纵性.北京:国防工业出版社,1988.
[46]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.
[47]#12
[48]李万超.船舶操纵模拟器中拖轮子系统的研究:(硕士学位论文).大连:大连海事大学,2004.
[49]黄小斌,杨盐生.船舶操纵运动数学模型预报精度的研究.大连海事大学学报,1997,23(2):26-30.
[50]吴秀恒,刘祖源,施生达等.船舶操纵性.北京:国防工业出版,2005.
[51]杨盐生,于晓利.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.
[52]Yang Yansheng.Study on ship manoeuvring mathematical model in shiphanding simulator.MARSIM'96.
[53]#12
[54]杨盐生 不确定系统的鲁棒控制及其在船舶运动控制中的应用:(博士学位论文).大连:大连海事大学,1998.
[55]Isherwood R.M.Wind resistence of merchant ship.Trans of RINA.No.115,1973.
[56]张显库,金一丞.控制系统建模与数字仿真.大连:大连海事大学出版社,2004.
[57]黄鼎良,张忠业,王言英译.船舶阻力与推进.大连:大连理工大学出版社,1989.
[58]Jens-Erk Bartels,Dirk Jurgens.The Voith Schneider Propeller Current Applications and New Developments.
[59]代如亮.港内低速时船舶舵效的研究:(硕士学位论文).大连:大连海事大学,2007.
[60]曾松祥.直翼推进器.中国造船,第26期:53-67.
[61]王国强,盛振邦.船舶推进.北京:国防工业出版社,1985.
[62]D.Clark.etal.The application of manoeuvring criteria in hull design using linear theory.The Naval Architect,1983.
[63]杨盐生.船舶阻力系数和推力系数计算的数据库方法.大连海事大学学报,1995,21(4):15-17
[64]滕英祥.船舶在风浪中的操纵运动仿真:(硕士学位论文).大连:大连海事大学,2004.
[65]田超.风浪流作用下船舶操纵运动的仿真计算:(硕士学位论文).武汉:武汉理工大学,2003.
[2]Hongyu Zhang and Yuru Xu.The research of maneuverability of underwater vehicle with cycloidal propellers,0-7803-4273-9/98 IEEE 1998.
[3]Davidson K,Schiff L.Turning and Course Keeping Qualities of Ships.SNAME Transactions,1964.
[4]Abkowitz M A.Lectures on Ship Hydrodynamics Steering and Manoeuvability.Hydro and aerodynamics Laboratory.Hydro and aerodynamics Laboratory,Lyngby,enmark,Report 1964.
[5]#12
[6]小瀨,貴島.MMG報告Ⅳ拘束操縦性試驗の方法及び試驗装置.日本造船学会誌,1977,No.579:404-413.
[7]乐美龙.船舶操纵性预报与港航操纵运动仿真.上海:上海交通大学出版社,2004.
[8]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.
[9]邹早建.船舶操纵性研究进展.上海:上海交通大学.2007.
[10]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.
[11]周昭明,盛子寅,冯悟时.多用途货船的操纵性预报计算.船舶工程,1983,(6):21-29.
[12]李美菁.船舶在风浪流及限制航道中多工况操纵运动模拟计算与操纵性能综合评判:(博士学位论文).武汉:武汉交通科技大学,1988.
[13]楼连根,黄国梁,刘天威.双桨双舵船操纵运输拘束模型试验及模拟计算.中国造船,1992,(03).
[14]吴鸿遇.直翼推进器的理论研究.哈尔滨船舶工程学院学报,1991,12(4):377-387.
[15]张洪雨,朱典明.三元非定常运动机翼流体动力特性的实验研究.哈尔滨船舶工程学院学报,1991.
[16]TUGSIM-Mathematical modeling of tugs.Force Technology.Skibsteksnisk Selskab 6/3-06.
[17]Zhang Xiufeng,Yin Yong,Jin Yicheng.The moving mathematical Models of Tug with Voith Schneider Propeller.PROCEEDINGS MARSIM,2006.
[18]Vioth Hydro Marine Technology,Safeguard of Tankers by Voith Water Tractors,Voith Hydro GmbH & Co.KG,Marine Technology,2005.
[19]S.Charters,et al.Analysis of Towed Vessel Course stability in Shallow Water.Trans.Of RINA.vol.127:247-258.
[20]#12
[21]Varyani,K.S.Course stability Problem Formulation.13"'International Conference on Hydrodynamics in ship design(HYDRONAV 99).
[22]杨盐生.船舶靠离泊操纵数学模型的研究.大连海事大学学报,1996,22(4):11-14.
[23]洪碧光.船舶操纵原理与技术.大连:大连海事大学出版社,2007.
[24]Tom van Terwisga,Fran Quadvlie,Herk Valkhof.Steerable Propulsion Units:Hydrodynamic issues and Design Consequence.The 80~(th)anniversary of schottel GmbH & Co,2001.
[25]J.-E.Bartels.Voith Water Tractor-the Hallmark of Improved ship safety.2000.
[26]陈向荣,马庆位.Magnus effec冰轮机性能的初步探讨.青岛海洋大学学报,1991,21(2):129-136.
[27]#12
[28]施内克鲁特.船舶水动力学(第一版).上海:上海交通大学出版社,1997.
[29]W.L.Haberman and E.E.Harley.Performance of vertical axis(cycloidal)propellers calculated by Taniguchi' s method.DTMB Report 1564,Nov,1961.
[30]朱典明.摆线推进器的理论计算方法.哈尔滨船舶工程学院学报,1982,(1):1-27.
[31]张洪雨,邢国英.摆线推进器任意方向角的水动力计算方法研究.水动力学研究与进展,2005,A20(4):472-478.
[32]钱晓南.直翼推进器的性能分析及其理论.中国造船,第51期:9-25.
[33]Jens-Erk Bartels,Dirk Jurgens.Latest Developments in Voith Schneider Propulsion Systems.The 18"' international tug & Salvage Convention.
[34]Dirk Jurgens.Active Roll Damping with Voith Schneider Propulsion.
[35]W.L.Haberman,E.B.Caster Performance of Vertical Axis(Cycloidal)Propellers According to Isay's Theory Int.Shipbuilding Progress Vol.9.No.90-February 1962
[36]N.L.Ficken and M.C.Dickerson Experimental performance and steering characteristics of cycloidal propellers[R].NSRDC Report 2983,Washington,July,1969
[37]鲁谦,李连有,李来成.船舶原理手册.北京:国防工业出版社,1988.
[38]贾欣乐,杨盐生.船舶运动数学模型-机理建模与辨识建模.大连:大连海事大学出版社,1999.
[39]于献孚等.计算船舶流体力学.上海:上海交通大学出版社,1992.
[40]#12
[41]吴秀恒.船舶操纵性与耐波性.人民交通出版社,1999.
[42]张乐文,周轶美,吴秀恒.操纵运动船体水动力计算.船舶工程,1999,(2):11-14.
[43]K.Kijima etal.On the manoeuvring performance of a ship with the parameter of loading condition.日本造船學會論文集,第168號,1990.
[44]N.H.Norrbin.Theory and observation on the use of a mathematical model for ship manoeuvring in deep and confined waters.Publication No.68 of SSPA.Sweden,1970.
[45]范尚雍编.船舶操纵性.北京:国防工业出版社,1988.
[46]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.
[47]#12
[48]李万超.船舶操纵模拟器中拖轮子系统的研究:(硕士学位论文).大连:大连海事大学,2004.
[49]黄小斌,杨盐生.船舶操纵运动数学模型预报精度的研究.大连海事大学学报,1997,23(2):26-30.
[50]吴秀恒,刘祖源,施生达等.船舶操纵性.北京:国防工业出版,2005.
[51]杨盐生,于晓利.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.
[52]Yang Yansheng.Study on ship manoeuvring mathematical model in shiphanding simulator.MARSIM'96.
[53]#12
[54]杨盐生 不确定系统的鲁棒控制及其在船舶运动控制中的应用:(博士学位论文).大连:大连海事大学,1998.
[55]Isherwood R.M.Wind resistence of merchant ship.Trans of RINA.No.115,1973.
[56]张显库,金一丞.控制系统建模与数字仿真.大连:大连海事大学出版社,2004.
[57]黄鼎良,张忠业,王言英译.船舶阻力与推进.大连:大连理工大学出版社,1989.
[58]Jens-Erk Bartels,Dirk Jurgens.The Voith Schneider Propeller Current Applications and New Developments.
[59]代如亮.港内低速时船舶舵效的研究:(硕士学位论文).大连:大连海事大学,2007.
[60]曾松祥.直翼推进器.中国造船,第26期:53-67.
[61]王国强,盛振邦.船舶推进.北京:国防工业出版社,1985.
[62]D.Clark.etal.The application of manoeuvring criteria in hull design using linear theory.The Naval Architect,1983.
[63]杨盐生.船舶阻力系数和推力系数计算的数据库方法.大连海事大学学报,1995,21(4):15-17
[64]滕英祥.船舶在风浪中的操纵运动仿真:(硕士学位论文).大连:大连海事大学,2004.
[65]田超.风浪流作用下船舶操纵运动的仿真计算:(硕士学位论文).武汉:武汉理工大学,2003.