无缆自定位应急航标系统仿真设计

Simulation design of cableless self-positioning emergency buoy system

传统应急航标布设工序多、耗时长,浮标漂移挤压航道不利于船舶安全航行,亟需采用电子信息技术升级以更好适应助航服务需求。在分析应急航标部署便捷性、视觉特征一致性、可靠性设计需求的基础上,引入无人船自主控制技术,研究设计了无缆自定位应急航标。首先,参照航标设计规范设计了航标主体结构,并搭建了基于嵌入式系统的航标运动执行系统和基于TCP/IP协议的软件控制系统;然后,采用阈值法制定了航标自定位移动控制策略;最后,通过Maxsurf软件建立浮标三维模型并采用切片法计算静水力稳性数据,利用Wyman经验公式法估算低速下航标航行阻力。仿真结果表明,设计的应急航标满足稳性要求,航行阻力和推进功率随移动速度呈二次曲线增加,适用于在水流平缓的航道提供应急助航服务。

The traditional emergency buoys has more working procedures and long time-consuming in deployment,and tend to drift around and squeeze the channel which is harmful to the safe navigation of ships.Therefore,it is urgent to adopt electronic information technology to upgrade the traditional emergency buoys to make them meet the requirement of navigational services.Based on the analysis of the deployment convenience,visual consistency and reliability design requirements of emergency buoys,the autonomous control technology of unmanned ship is introduced to design the self-positioning emergency buoy without cable.The main structure of the emergency buoy is designed according to the buoy design specification,and the motion execution system based on embedded system and the software control system based on TCP/IP protocol are built.The threshold method is used to develop the self-positioning movement control strategy of emergency buoy.The Maxsurf software is utilized to build a 3D model of the buoy,the hydrostatic stability data is calculated by means of slice method,and the Wyman empirical formula method is adopted to estimate the navigation resistance of the buoy at low speed.The simulation results show that the emergency buoy designed in this research can meet the requirements of stability,moving resistance and propulsion power can increase with the moving speed in a quadratic curve mode,and the buoy is suitable for providing emergency navigational services in smooth waterways.