摘要
基于船舶操纵性运动方程和拖缆的三维动力学运动方程,提出了被拖带船舶拖点位置匹配的方法,建立了缆-船非线性整体的拖带动力学模型,采用数值计算法实现了时域内拖带运动的模拟。对一艘具有航向稳定性船舶进行了拖带运动数值计算,拖带船舶采用PD控制方法较真实地模拟了拖带船舶航向改变的运动过程。数值计算讨论了拖点位置、拖缆长度、拖带航速对拖带航向稳定性的影响,结果表明:拖带航向稳定性与线性拖带理论一致,即拖点位置在水动力作用点之前拖带航向具有稳定性,拖缆长度和拖带航速对拖带航向稳定性无影响。拖缆长度和拖带航速可以影响拖带的航行品质,增加拖缆长度能有效抑制拖缆张力的振荡,拖带航速影响到航向角的响应快慢和超调量。
Based on the equations governing the motion of a ship and three dimension equations of towed cable system, the nonlinear towing system dynamics model of towing ship and towed ship connected by the cable is established by matching both positions of towed point of ship and end point of the cable. Then using numerical calculation method the simulation on the towing cable model is performed in time domain. The towing ship motion is also simulated by steering rudder using control rule of PD, therefore the motion of the towing ship under steering rudder can be truly calculated. The motion simulation for one towing system is carried out using the nonlinear towing system＇s dynamics model, and the influence of towed point position, towing cable length and towing speed on the course stability of the towed ship is discussed in detail. Simulation results show that course stability of towed ship is the same with the result given by linear towed ship course stability theory, that is, the towed ship will have course stability when the towed position is located on front point of hydrodynamics, and towing speed and towing cable length have no influence on course stability. The results of numerical simulation also show that longer cable can decrease vibration amplitude of cable tension, and towing speed can improve response quality of course of towed ship.
出处
《中国造船》
EI
CSCD
北大核心
2006年第2期1-9,共9页
Shipbuilding of China
关键词
船舶、舰船工程
拖航
操纵性
航向稳定性
拖缆
ship engineering, towing
maneuverability
course stability
towed cable
