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引用次数: 0
摘要
在斜尾波中航行会使船舶发生急转弯和无法控制的航向偏离,并伴有较大的后跟,有时会导致倾覆。研究斜尾波下的控制算法是十分必要的,因为一个好的控制方案可以提高船舶的航向保持稳定性。本文采用基于水动力导数的机动建模组(MMG)方法和基于计算流体力学(CFD)的自航仿真方法对船舶在波浪中的航行进行了仿真。本文研究了比例-积分-导数(PID)控制方案对基于流体动力导数和3d - of - MMG方法的航向维持稳定性的影响。然后,利用优化后的PID控制参数,利用CFD方法对船舶在斜波中进行了6DOF自推进航行仿真。在此过程中,考虑了舷侧急变、轰击、绿水等非线性现象。研究发现,控制带宽的范围应根据船舶航向和波浪参数进行优化。
The effect of PID control scheme on the course-keeping of ship in oblique stern waves
Sailing in oblique stern waves causes a ship to make sharp turns and uncontrollable course deviation, which is accompanied by a large heel and sometimes leads to capsizing. Studying the control algorithm in oblique stern waves is imperative because an excellent controller scheme can improve the ship’s course-keeping stability. This paper uses the Maneuvering Modelling Group (MMG) method based on hydrodynamic derivatives and the Computational Fluid Dynamics (CFD)-based self-navigation simulation to simulate ship navigation in waves. This study examines the effect of proportion-integral-derivative (PID) controller schemes on the stability of course maintenance based on hydrodynamic derivatives and 3DOF MMG methods. Then, the optimized PID control parameters are used to simulate the ship’s 6DOF self-propulsion navigation in oblique waves using the CFD method. The nonlinear phenomena during the process, such as side-hull emergency, slamming, and green water, are considered. This study found that the range of the control bandwidth should be optimized based on the ship's heading and wave parameters.
期刊介绍:
The journal is devoted to multidisciplinary researches in the fields of theoretical and experimental naval architecture and oceanology as well as to challenging problems in shipbuilding as well shipping, offshore and related shipbuilding industries worldwide. The aim of the journal is to integrate technical interests in shipbuilding, ocean engineering, sea and ocean shipping, inland navigation and intermodal transportation as well as environmental issues, overall safety, objects for wind, marine and hydrokinetic renewable energy production and sustainable transportation development at seas, oceans and inland waterways in relations to shipbuilding and naval architecture. The journal focuses on hydrodynamics, structures, reliability, materials, construction, design, optimization, production engineering, building and organization of building, project management, repair and maintenance planning, information systems in shipyards, quality assurance as well as outfitting, powering, autonomous marine vehicles, power plants and equipment onboard. Brodogradnja publishes original scientific papers, review papers, preliminary communications and important professional papers relevant in engineering and technology.