侧推器协助船舶靠离泊操纵的数学模型

Study on mathematical model for simulating ship berthing or unberthing with lateral thruster in harbor

给出一种港内运用侧推器协助靠离泊操纵的数学模型.模型吸取日本MMG分离建模的思想,以船、桨、舵单独性能为基础,并考虑其各部分之间的相互干涉,同时考虑到靠离泊的船舶运动为低速、大漂角的特点,对作用于船体上流体力及桨、舵力都提出了相应的算法,将侧推器数学模型应用到该模型中,并运用MATLAB语言以某集装箱船为例进行了模拟仿真.经有关船长验证,仿真计算结果基本满足工程要求,可为完善船舶操纵模拟器提供一定的理论基础.

A mathematical model for simulating ship berthing or unberthing with lateral thruster is presented in this paper. The characteristics of low speed, large drift when ship berthing or unberthing are considered. And the formulas for calculating hull hydrodynamic force, rudder force and propeller force are presented . Based on Matlab the ship maneuvering simulator is developed by use of the above mathematical model, and the results simulated by Matlab are in good agreement with the experiences of concerning captains, pilots and experts.