船舶拖航系统六自由度操纵运动仿真

摘要

研究拖航作业操纵运动对于提高拖航作业的安全性有重要意义，采用MMG分离式船舶运动数学模型，结合拖缆的悬链线张力计算模型，建立由拖轮、拖缆、被拖轮组成的拖航系统六自由度操纵运动模型，编制仿真程序，通过数值计算，对该系统操纵运动进行仿真模拟。以拖轮和导管架驳船的拖航运动为例，分析拖缆长度、拖航速度对拖航系统操纵运动及拖航航向稳定性的影响，模拟该系统在风、浪、流影响下的操纵运动，运动数据实时解算，为在视景模拟平台上进行作业预演，规避拖航作业风险提供理论指导。%The 6-DOF maneuvering model is based on MMG (Ship Maneuvering Model Group) mathematical model and catenary model of towing rope, include a series of maneuvering motion equations of towing system. The ship towing system contains one tug, one barge and towrope. Maneuvering motion simulation of the towing system is carried out by numerical calculation. Taking a tug boat towing a jacket barge as example, the factors such as towing rope length, towing speed and environmental conditions are studied. The simulation obtains some useful conclusion for improve operational security.