舰船锚泊运动与六自由度操纵的数学建模研究

Mathematical modeling of ship's mooring motion and six degree of freedom maneuvering

锚泊运动是舰船正常运行时必不可少的运动,当船舶在海上或港口停泊时,都需要借助锚链等进行舰船的定位。由于舰船在海上锚泊时会受到海风、海浪和洋流等作用力,导致锚泊的稳定性、安全性下降,不仅影响舰船的海上定位和作业,还有可能导致严重的事故。因此,研究舰船在多种因素下的锚泊运动具有重要的意义。船舶的锚泊性能与其在海浪中的六自由度运动息息相关,本文利用流体动力学原理建立了舰船锚泊运动的动力学模型,同时建立了非线性波浪力的数学模型,并在此基础上研究了舰船锚泊运动和六自由度操纵运动。本研究主要应用于舰船在恶劣条件下的安全锚泊,并提高舰船的操纵灵活性。

The anchor motion is necessary for the normal operation of ships. When the ship is moored at sea or at the port, it is necessary to anchor the line to locate the ship. The ship will be wind, waves and currents in the sea anchor force, to anchor the stability and safety of the decline, not only affects the operation of ship and offshore location, and may result in serious accidents. Therefore, it is of great significance to study the ship's anchoring motion under various factors. The ship anchoring performance in waves with six degrees of freedom of movement is closely related to the principle of fluid dynamics established a dynamic model ship mooring, mathematical model and established a nonlinear wave force, and on the basis of study of the ship mooring and manoeuvring motion with six degrees of freedom. This study is mainly applied to the safe mooring of ships in harsh conditions, and to improve the maneuverability of the ship.