摘要
采用MMG分离式船舶运动数学模型以及拖缆的悬链线模型,构建了由拖船——拖缆——被拖船组成的拖航系统操纵运动模型。通过数值计算,对该系统进行了操纵运动模拟仿真。主要的仿真项目包括拖航系统改变航向和受到小扰动时的运动。在此基础上研究了影响拖航系统航行性能的诸多因素,这些因素主要有:拖缆的长度、拖航速度、被拖船的拖航点位置。针对浅水效应给予拖航系统的影响以及通过改变PD控制参数改善拖航系统航向稳定性进行的初步探讨,得到了一系列有益的结论。
Base on MMG（Ship Maneuvering Model Group） mathematical model and the catenary model of towing rope, a set of maneuvering motion equations of the towing system which consists of one tow vessel, one towing rope and one towed vessel is given. Maneuvering motion simulation of the towing system was carried out by numerical calculation. The items of the simulation include ＂motions when the to.wing system changing course and the vessel suffered small disturbance. By simulation, the factors such as towing rope length, towing speed and towing point position which effect towing system performance are studied, Also, the influence of water depth on towing system, i, e. shallow water effect, and the method for improving course stability by changing the PD control parameters are preliminarily discussed and some useful conclusions are obtained.
出处
《中国航海》
CSCD
北大核心
2007年第2期10-13,29,共5页
Navigation of China
关键词
水路运输
拖航系统
船舶操纵性
仿真
浅水效应
Waterway transportation
Towing system
Ship maneuverability
Simulation, Shallow water effect
