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1、上海交通大学硕士学位论文拖航系统操纵性研究姓名：梁康乐申请学位级别：硕士专业：船舶与海洋结构物设计制造指导教师：黄国樑20070101上海交通大学硕士学位论文结论，并且两者的结论可以互为补充。最后，本文针对这些影响因素给出了能够指导海上拖航作业的一系列有益的结论。关键词：船舶操纵性，拖航系统，航向稳定性，操纵运动仿真，浅水效应，PD控制VI上海交通大学硕士学位论文ASTUDYOFTOWINGSYSTEM’SMANOEUVRABILITYABSTRACTManeuverabilityisoneofthemostimportantperformancesofnavigation,whic
2、hhasagreatinfluenceonship’stransportsafety.Especially,withthedevelopmentofoceanshipping,manycountieshaveworkedtoimprovetheshipmaneuverabilityandIMOhasissuedtheResolutionMSC.137(76),StandardforShipManeuverabilityin2002.Meantime,moreattentiontotheresearchofship'smaneuverabilitywaspaidbyeveryaspec
3、t.Generally,comparativewiththesinglevessel,researchoftowingsystem’smaneuverabilitywasnotverymuch.Inrecentyears,thetowingoperationswhichincludetugboatassistanceinharbor,rescueatseaandtowageofoceanengineeringconstructionsareincreasingconstantly.Andtherearemanyriskswhichwouldaffectshippingsecurity
4、ofthetowingsystemintheseoperations,suchasthetowingrope’srupture,thetowingropetouchedseabedandtowedvessel’syawing.Inthepast,sailorsoperatedtowingvesselwiththeirexperienceandwithoutsystemictheory.Therefore,towingsystem’smaneuverabilityshouldberesearchedforkeepingthetowingoperationssafe.Firstly,ac
5、cordingtotheMMG'sseparatedmodelingtheory,thisthesisgivesthemaneuveringmotioncoordinateoftowingsystem,andasetofmanoeuvringmotionequationsofthetowingsystemwhichconsistsofatowvessel,atowingropeandatowedvesselwasestablished.Thenthecatenarymodelischosenforcalculatingthetensionoftowingrope.TheRunge-K
6、uttamethodisusedforcalculatingthenumericalsolutionofequationsofmaneuveringmathematicalmodel,andprogramoftowingsystemmaneuveringmotionsimulationintimedomainiscompiled.Secondly,asetoflineardisturbanceequationsofmotionofthetowingVII上海交通大学硕士学位论文systemwhichconsistsofatowvessel,atowingropeandatowedve
7、sselwasestablished.Findoutalleigenvaluesoftheseequations’coefficientsmatrixthroughthenumericalcalculation.Andaccordingtothestabilitytheoryofsystem,thecoursestabilityoftowingsystemwasjudgedbythesignoftheseeigenvalues.Thenthestabili
