吊舱推进船舶运动数学模型及其在航海模拟器中的应用

张秀凤; 尹   勇; 孙霄峰; 金一丞

doi:10.16411/j.cnki.issn1006-7736.2013.02.029

大连海事大学学报 >

2013 , Vol. 39 >Issue 2: 9 - 12

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2013.02.029

交通运输工程

吊舱推进船舶运动数学模型及其在航海模拟器中的应用

张秀凤 ,
尹勇 ,
孙霄峰 ,
金一丞

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大连海事大学航海学院，辽宁大连 116026

张秀凤(1972 - ), 女,博士，副教授,E-mail:zxfdmu@163.com.

收稿日期: 2012-12-27

网络出版日期: 2023-05-25

基金资助

国家重点基础研究发展计划（973）资助项目（2009CB320805）.

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Ship mathematical model with POD propellers applied in marine simulator

ZHANG Xiu-feng ,
YIN Yong ,
SUN Xiao-feng ,
JIN Yi-cheng

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Navigation College ，Dalian Maritime University，Dalian 116026, China

Received date: 2012-12-27

Online published: 2023-05-25

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摘要

应用MMG分离建模思想，建立配备吊舱推进器的半潜船四自由度运动数学模型，利用回归公式估算POD桨的推力和扭矩，用经验公式估算伴流分数和推力减额.在航海模拟器中，通过硬件信号控制POD桨的转速和旋转角度，并将其传输给船舶运动数学模型模块，采用四阶龙格—库塔法积分求解船舶运动微分方程组，获得实时船舶运动态势，再将其传递给航海模拟器中的其他模块，实现人—机交互.以半潜船“泰安口”为例，建立POD桨的水动力性能数学模型以及半潜船的运动数学模型.与实船海试试验结果比对，不确定度在20％以内，能够满足航海教学培训和工程论证需要.

关键词： 船舶运动数学模型; 吊舱推进器; 航海模拟器; 不确定度分析

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张秀凤 , 尹勇 , 孙霄峰 , 金一丞 . 吊舱推进船舶运动数学模型及其在航海模拟器中的应用[J]. 大连海事大学学报, 2013 , 39(2) : 9 -12 . DOI: 10.16411/j.cnki.issn1006-7736.2013.02.029

Abstract

MMG separation modeling idea is used to establish a semi-submersible ship motion mathematical model of four degrees of freedom with pod equipped, and the regression formula is used to estimate the thrust and torque of the POD propeller, and the empirical formulas are used to estimate the wake fraction and thrust deduction. By handling engine throttles to control the POD propeller speed and propeller rotation angle of the hardware signal transmission to the ship mathematical model module, the integral ship motion equations are solved by using fourth order Runge Kutta method, and the real time ship motion situation is obtained. Then the real time ship motion situation is transfered to the other modules of marine simulator so as to achieve human computer interaction. Semi-submersible heavy lift vessel "TaiAnKou" is simulated, and the mathematical model of POD propellers and ship’s mathematical model are established. The uncertainty between simulating and experimental results is less than 20%, which can meet the requirements of navigation training and engineering.

Key words： ship motion mathematical model; POD propellers; marine simulator; uncertainty analysis

参考文献

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