To further improve the maneuvering performance of POD-driven ship, according to the ship state of motion in the maneuvering process, the POD-driven ship combined dynamic simulation model is established. The relationship between the thrust force, azimuth angle of podded propulsor and ship maneuvering is analyzed, three degree-of-freedom nonlinear ship equations of motion is enhanced, and the podded propulsor thrust vector model and the calculation method are proposed. Under the Matlab platform, simulations of the POD-driven ship model and the conventional ship model are respectively made, and performances of their turning movements and Z movements are compared. The simulation results show the model can accurately reflect POD-driven ship maneuvering motion condition and provide the credible mathematical model for the automatically podded propulsion control technology research.%为进一步提高吊舱推进船舶的操纵性能,根据船舶在操纵过程中的运动状态,建立了吊舱推进船舶综合仿真模型.分析吊舱推进器推力大小、回转角度与船舶操纵的关系,改进了现有三自由度非线性船舶运动方程,提出了吊舱推力矢量模型以及具体计算方法.在Matlab平台下分别实现了吊舱推进船舶和传统推进船舶模型的仿真,并比较了这两种船的回转操纵和Z形操纵性能.结果表明该模型能正确地反映吊舱推进船舶操纵运动状态并为吊舱推进控制技术的研究提供了可信的数学模型.
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