响应型船舶运动数学模型的构造

Research on responding ship motion mathematical model

论述了响应型船舶运动非线性数学模型,相对于状态空间模型,该模型计算比较简单,但所获的微分方程仍可保留非线性影响因素,可以满足进行船舶闭环控制系统的仿真研究时对模型精度的要求.针对大连海事大学"育龙"号实习船进行了仿真试验,用VisualBasic6.0编程实现.试验结果表明,响应型非线性数学模型与Norrbin非响应型非线性数学模型的回转试验轨迹基本重合.

The responding ship motion nonlinear mathematical model is analysed. Comparing with state space model, the computation of responding ship model is simple, but the differential equation obtained can preserve the nonlinear effect and the model can also satisfy the requirements to model precision when the simulation of ship closed-loop control system is studied. Simulating experiment is carried out in the light of a training ship 'YuLong' of Dalian Maritime University, programming by Visual Basic 6.0. The simulating results indicate that the turning circles of nonlinear responding model meet nearly with that of Norrbin nonlinear model.