肥大型船舶水动力导数的辨识及应用
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摘要
操纵性是船舶航行的重要性能之一，其对航运安全有非常大的影响。特别是近年来，随着海运的发展，船舶的吨位急剧增大、航速提高、航道拥挤，从而使船舶航运安全成为一个突出的问题。作为交通工具，良好的操纵性是安全运行的基本保证。为此，许多国家都要求新建造的船舶及进入该国水域的船舶都要提交操纵性计算书和相关试验报告。随着人们对船舶操纵性的日益关注，准确计算船舶操纵性已经提上了议事日程。根据船舶或船模操纵性实验结果辨识其水动力导数是深入研究其操纵性能及采取相应对策的重要方法。
本文的主要工作，是根据实船(船模)的回转实验、Z形操纵等实验结果(航行轨迹)，应用最小二乘参数辨识的方法，利用给定数据，对船舶操纵性方程进行系统辨识，确定该船舶的水动力导数，并最终完成计算机仿真研究。
首先，建立船舶操纵方程的系统辨识数学模型，利用最小二乘递推算法对该模型进行系统辨识，最终确定该船舶的水动力导数，预报出该船舶的操纵特性，并利用众所周知的Mariner轮和60系列船型对该程序进行考核计算，
其次，建立船舶操纵的仿真模型，实现人机交互，以曲线的形式显示船舶仿真过程中的航迹、航向等信息，整体航迹画面，并实时显示各时刻的历史数据。
Maneuverability is an important capability of the ship navigation. It has great influence on the shipping safety. Especially in recent years, with the development of the shipping, the tonnage of the ship is increasing rapidly, and the ship speed is also increasing, and the sea-route is becoming much more crowded. All these make the shipping safety a standing problem. As a vehicle, good maneuverability is the basic guarantee of the safe operation. For this reason, many countries demand the maneuverability and the related experiment reports of new-building ships and ships entering their water area. With the increasing concerns on the ship maneuverability, the accurate calculation of the ship maneuverability is being put to the agenda. One of the important methods for researching the maneuverability capability and taking corresponding countermeasure, is the identification of the hydrodynamic differential coefficient based on the ship/model maneuverability experiment results.
The main work of this paper is: based on the ship/model's experiment, applied the ILS method on the giving data, carried out the system identification on the ship maneuvering equation, get the hydrodynamic differential coefficient of the ship, and finished the research of the computer imitation.
Firstly, this paper builds mathematic model of system identification for the ship maneuverability equation, and carries out the system identification to this model using the GISL methods, and gets the hydrodynamic differential coefficient of the ship, and compares the characteristic of the fat ship maneuverability according to the identification result.
Secondly, this paper builds the imitating model of the ship maneuverability, and realizes the interaction between human and computer. This paper uses curves to imitate the flight path and course of the ship, and the history data is displayed at real time.
本文的主要工作，是根据实船(船模)的回转实验、Z形操纵等实验结果(航行轨迹)，应用最小二乘参数辨识的方法，利用给定数据，对船舶操纵性方程进行系统辨识，确定该船舶的水动力导数，并最终完成计算机仿真研究。
首先，建立船舶操纵方程的系统辨识数学模型，利用最小二乘递推算法对该模型进行系统辨识，最终确定该船舶的水动力导数，预报出该船舶的操纵特性，并利用众所周知的Mariner轮和60系列船型对该程序进行考核计算，
其次，建立船舶操纵的仿真模型，实现人机交互，以曲线的形式显示船舶仿真过程中的航迹、航向等信息，整体航迹画面，并实时显示各时刻的历史数据。
Maneuverability is an important capability of the ship navigation. It has great influence on the shipping safety. Especially in recent years, with the development of the shipping, the tonnage of the ship is increasing rapidly, and the ship speed is also increasing, and the sea-route is becoming much more crowded. All these make the shipping safety a standing problem. As a vehicle, good maneuverability is the basic guarantee of the safe operation. For this reason, many countries demand the maneuverability and the related experiment reports of new-building ships and ships entering their water area. With the increasing concerns on the ship maneuverability, the accurate calculation of the ship maneuverability is being put to the agenda. One of the important methods for researching the maneuverability capability and taking corresponding countermeasure, is the identification of the hydrodynamic differential coefficient based on the ship/model maneuverability experiment results.
The main work of this paper is: based on the ship/model's experiment, applied the ILS method on the giving data, carried out the system identification on the ship maneuvering equation, get the hydrodynamic differential coefficient of the ship, and finished the research of the computer imitation.
Firstly, this paper builds mathematic model of system identification for the ship maneuverability equation, and carries out the system identification to this model using the GISL methods, and gets the hydrodynamic differential coefficient of the ship, and compares the characteristic of the fat ship maneuverability according to the identification result.
Secondly, this paper builds the imitating model of the ship maneuverability, and realizes the interaction between human and computer. This paper uses curves to imitate the flight path and course of the ship, and the history data is displayed at real time.
引文
[1] 苏兴翘，高士奇，黄衍顺编著《船舶操纵性》 国防工业出版社 1989．11
[2] 中国船级社上海规范研究所 中国船级社指导性文件：海船操纵性 1993．2
[3] 尤庆华 船舶操纵术语之商榷 1998 上海海运学院学报
[4] 史国友．船舶操纵安全综合评判系统[D]．大连：大连海事大学．
[5] 刘豹，王正欧编著《系统辨识》 机械工业出版社 1993．10：1-3
[6] 夏长天著，熊光愣，李芳芸译《系统辨识》 清华大学出版社 1983
[7] 熊光愣，肖田元，张燕云编著《计算机仿真应用》 1988．1：1-3
[8] 熊光楞等编著 控制系统仿真与模型处理 1993．7
[9] 控制系统数字仿真 徐家蓓编著 北京理工大学出版社
[10] Zadeh L A From Circuit Theory to System. Proc. IRE. 1962
[11] A. Alan B. Pritsker, 《Compilation of Definition of Simulation》, Simulation Vol. 33, No. 2, August, 1979
[12] I sermann R．过程辨识的实际面貌，系统辨识入门 中国科学院系统科学研究所编
[13] 计算机辅助建模和仿真 (比利时)斯普里特(Spriet，J．A．)，范斯蒂恩基斯特(Vansteenkiste，G．C．)著 科学出版社 1991．4
[2] 中国船级社上海规范研究所 中国船级社指导性文件：海船操纵性 1993．2
[3] 尤庆华 船舶操纵术语之商榷 1998 上海海运学院学报
[4] 史国友．船舶操纵安全综合评判系统[D]．大连：大连海事大学．
[5] 刘豹，王正欧编著《系统辨识》 机械工业出版社 1993．10：1-3
[6] 夏长天著，熊光愣，李芳芸译《系统辨识》 清华大学出版社 1983
[7] 熊光愣，肖田元，张燕云编著《计算机仿真应用》 1988．1：1-3
[8] 熊光楞等编著 控制系统仿真与模型处理 1993．7
[9] 控制系统数字仿真 徐家蓓编著 北京理工大学出版社
[10] Zadeh L A From Circuit Theory to System. Proc. IRE. 1962
[11] A. Alan B. Pritsker, 《Compilation of Definition of Simulation》, Simulation Vol. 33, No. 2, August, 1979
[12] I sermann R．过程辨识的实际面貌，系统辨识入门 中国科学院系统科学研究所编
[13] 计算机辅助建模和仿真 (比利时)斯普里特(Spriet，J．A．)，范斯蒂恩基斯特(Vansteenkiste，G．C．)著 科学出版社 1991．4