CN107554690A - A kind of inland river pusher train analogy method - Google Patents

A kind of inland river pusher train analogy method Download PDF

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CN107554690A
CN107554690A CN201710725605.0A CN201710725605A CN107554690A CN 107554690 A CN107554690 A CN 107554690A CN 201710725605 A CN201710725605 A CN 201710725605A CN 107554690 A CN107554690 A CN 107554690A
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梁松
黄超
张秀凤
尹勇
孙霄峰
神和龙
刘秀文
任俊生
任鸿翔
刘春雷
白宇
苑洋
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Dalian Maritime University
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Dalian Maritime University
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Abstract

The present invention provides a kind of inland river pusher train analogy method, including：The origin of coordinates of fleet's coordinate system and the center of gravity of fleet are determined according to fleet's parameter；It is a point that the origin of coordinates and center of gravity, which are overlapped, the fleet's four-degree-of-freedom equation of motion being simplified；According to push boat and bargemaster, push boat with the barge beam, barge and push boat drinking water and ship whose power of Block Coefficient Ship ' inertia and viscous hydrodynamic forces；The additional mass of fleet is calculated according to ship inertia hydrodynamic force and viscous hydrodynamic forces；According to the rotating speed of propeller, diameter, enter speed, the thrust coefficient of wake factor and catheter propeller calculates the thrust of propeller, the rudder power of ship；Additional mass, airscrew thrust and rudder power are substituted into Runge Kutta to the acceleration and speed for calculating fleet；Simulator is simulated true inland river pusher train according to the acceleration and speed of fleet and navigated by water.The present invention will push boat with barge as a ship, take into full account inland river environmental impact factor, realize the simulation of inland river pusher train.

Description

A kind of inland river pusher train analogy method
Technical field
The present invention relates to ship imitation technology field, more particularly to a kind of inland river pusher train analogy method.
Background technology
Vessel simulator as a kind of advanced teaching means be applied to navigation teaching and seafarers training China it is existing compared with Long history.
Inland river pusher train shallow draft, maneuverability is good, and operation cost is low, is a kind of essential delivery in inland water transport Instrument.When fleet runs in interior korneforos, the requirement to maneuverability is higher, therefore part fleet uses leading with double backing rudders Pipe oar system, the manipulation and dynamical system as fleet are to ensure its maneuverability.
Lack the project for inland river pusher train in current vessel simulator.
The content of the invention
The present invention provides a kind of inland river pusher train analogy method, to overcome above-mentioned technical problem.
Inland river pusher train of the present invention analogy method, including：
The ship parameter of inland river pusher train is obtained, the parameter includes：Bargemaster, the captain that pushes boat, the barge beam, push away The ship beam, barge drinking water, drinking water of pushing boat, barge Block Coefficient and Block Coefficient of pushing boat；
According to push boat captain and the bargemaster, described push boat the beam and the beam of pushing boat, the barge absorb water and pushed boat Drinking water determines the origin of coordinates of fleet's coordinate system and the center of gravity of the fleet；
It is a point that the origin of coordinates and the center of gravity, which are overlapped, the fleet's four-degree-of-freedom motion side being simplified Journey；
According to push boat captain and the bargemaster, described push boat the beam and the barge beam, the barge absorb water and pushed boat Drinking water and the Block Coefficient Ship ' inertia hydrodynamic force and viscous hydrodynamic forces of ship；
The additional mass of fleet is calculated according to the ship inertia hydrodynamic force and viscous hydrodynamic forces；
According to the rotating speed of propeller, diameter, enter speed, the thrust coefficient of wake factor and catheter propeller calculates pushing away for propeller Power, the rudder power of ship；
By the additional mass, airscrew thrust and the rudder power substitute into Runge Kutta in calculate fleet acceleration and Speed；
Simulator is simulated true inland river pusher train according to the acceleration and speed of the fleet and navigated by water.
Further, fleet's four-degree-of-freedom equation of motion of the simplification is：
Wherein, IxxThe moment of inertia for ship around x-axis, JxxAdded moment of inertia for ship around x-axis, IzzIt is ship around z-axis The moment of inertia, JzzAdded moment of inertia for ship around z-axis, m are fleet's quality, mxFor longitudinal additional mass, myFor laterally additional matter Amount, v are horizontal speed, and r is yawing angular speed, and u is longitudinal velocity, XpIt is longitudinal force caused by propeller, XHIt is that hull produces Longitudinal force, XRIt is longitudinal force caused by rudder, XDIt is longitudinal force caused by external environment, YpIt is cross force caused by propeller, YH It is cross force caused by hull, YRIt is cross force caused by rudder, YDIt is cross force caused by external environment, NpIt is that propeller produces Yawing torque, NHIt is yawing torque, N caused by hullRIt is yawing torque caused by rudder, NDIt is yawing caused by external environment Torque, KpIt is rolling moment caused by propeller, KHIt is rolling moment caused by hull, KRIt is rolling moment caused by rudder, KDIt is Rolling moment caused by external environment, P are angular velocity in rolls,For longitudinal acceleration,For transverse acceleration,Accelerate for yawing Degree,For roll acceleration.
Further, the inertia hydrodynamic force uses formula：
Wherein, L represents the length of ship, and B represents the width of ship, and d represents the drinking water of ship, CbThen represent the square system of ship Number.
Further, the additional mass bag that fleet is calculated according to the ship inertia hydrodynamic force and viscous hydrodynamic forces Include：
According to formula
The additional mass of fleet is calculated, wherein, C represents fleet, and T represents to push boat, and B represents barge, mxT、myT、mzzTRespectively The longitudinal additional mass, horizontal additional mass, ship for representing to push boat are around the added moment of inertia of z-axis, mxc、myc、mzzcRepresent respectively Longitudinal additional mass of fleet, horizontal additional mass, ship are around the added moment of inertia of z-axis, mxB、myB、mzzBBarge is represented respectively Longitudinal additional mass, horizontal additional mass, ship is around the added moment of inertia of z-axis, mzzBThe moment of inertia for barge around z-axis, mzzT To push boat around the moment of inertia of z-axis, LB、LTThe respectively captain of barge and push wheel, XgcIt is fleet's center of gravity x-axis to coordinate, K1、K2Point Horizontal and vertical inertia coeffeicent, K are not represented3Inertia coeffeicent for fleet around z-axis.
Further, the viscous hydrodynamic forces of the ship calculate and use open country model
Wherein, for longitudinal hydrodynamic force XHCalculating, lateral resistance and steering resistance suffered by be reduced to only v, a r Coupling terms.Horizontal hydrodynamic force YHAnd NHCalculating, be broken down into by heel power and do not distinguished by two parts of heel power Calculate, XHFor longitudinal hydrodynamic force, YHFor horizontal hydrodynamic force, NHIt is hydrodynamic force away from YH0、NH0For the fluid dynamic not influenceed by heel And torque, YH1、NH1To be included in the cross force and torque that transverse movement need to add, xCFleet's center of gravity, X (u) are longitudinal resistance, XvrThe power that vr is lateral resistance and steering resistance merges.
Further, the airscrew thrust calculates and uses formula
Wherein, subscript (p), (s) represent left screw and right side propeller, t respectivelypFor the thrust deduction of propeller, b For the spacing between two propellers, nPFor the rotating speed of propeller, DPFor the diameter of propeller, uP(s)For the speed of entering of propeller, WPFor Wake factor, KT(JP) be catheter propeller thrust coefficient, TP、YPRespectively propeller is in X, the power of Y-direction, T(s)Indulged for propeller To thrust, Js(s)For propeller advance coefficient.
Further, the calculating of the rudder power and torque uses
Wherein, FNpIt is expressed as left rudder normal force, FNsIt is expressed as the normal force of right standard rudder, αHSystem is influenceed for rudder and hull hydrodynamic Number, xRFor the longitudinal coordinate at rudder center, zRFor the vertical coordinate at rudder center；(1-tR) be ship after rudder correction factor, XR、 YR、NR、LRRespectively rudder caused power on this four direction, δ is rudder angle.
Inland river pusher train of the present invention analogy method considers the influence of the wind and stream in actual inland river environment, by refuting for fleet Ship is considered as the foundation of an entirety progress four-degree-of-freedom motion mathematical model with pushing boat.Enrich inland navigation craft control simulator Description of Ship.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is inland river pusher train analogy method flow chart of the present invention；
Fig. 2 is ship kinetic coordinate system of the present invention；
Fig. 3 is the stress diagram of rudder section of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Fig. 1 is inland river pusher train analogy method flow chart of the present invention, as shown in figure 1, the method for the present embodiment includes；
Step 101, the ship parameter for obtaining inland river pusher train, the parameter include：Bargemaster, the captain that pushes boat, refute The ship beam, the beam of pushing boat, barge drinking water, drinking water of pushing boat, barge Block Coefficient and Block Coefficient of pushing boat；
Step 102, push boat according to captain and bargemaster, described push boat the beam and the barge beam, the barge are eaten Water and drinking water of pushing boat determine the origin of coordinates of fleet's coordinate system and the center of gravity of the fleet；
Specifically, as shown in Fig. 2 O in figure0-x0y0z0For fixed inertial coodinate system at the earth's surface, x0y0Make For standard water plane, x0Axle points to direct north, y0Axle points to due east direction, z0Axle is vertical downwardly directed to the earth's core direction.G-xyz It is then with ship coordinate system, Gx points to stem, and Gy points to starboard, and Gz points to keel.
Step 103, to overlap the origin of coordinates and the center of gravity be a point, the freedom of the fleet four being simplified Spend the equation of motion；
Step 104, push boat according to captain and bargemaster, described push boat the beam and the beam of pushing boat, the barge are eaten Whose power of Block Coefficient Ship ' inertia and viscous hydrodynamic forces of water and push boat drinking water and ship；Wherein, the square system of ship Number refers to the ratio between the molded volume ▽ of hull underwater and cuboid volume for being made up of captain L, molded breadth B, drinking water d, it Size represent hull under-water volume girth of a garment degree；
Step 105, the additional mass for calculating according to the ship inertia hydrodynamic force and viscous hydrodynamic forces fleet；
Step 106, according to the rotating speed of propeller, diameter, enter speed, the thrust coefficient of wake factor and catheter propeller calculates spiral shell Revolve the thrust of oar, the rudder power of ship；
Step 107, fleet will be calculated in the additional mass, airscrew thrust and the rudder power substitution Runge Kutta Acceleration and speed；
Step 108, simulator are simulated true inland river pusher train according to the acceleration and speed of the fleet and navigated by water.
Further, fleet's four-degree-of-freedom equation of motion of the simplification is：
Wherein, IxxThe moment of inertia for ship around x-axis, JxxAdded moment of inertia for ship around x-axis, IzzIt is ship around z-axis The moment of inertia, JzzAdded moment of inertia for ship around z-axis, m are fleet's quality, mxFor longitudinal additional mass, myFor laterally additional matter Amount, v are horizontal speed, and r is yawing angular speed, and u is longitudinal velocity, XpIt is longitudinal force caused by propeller, XHIt is that hull produces Longitudinal force, XRIt is longitudinal force caused by rudder, XDIt is longitudinal force caused by external environment, YpIt is cross force caused by propeller, YH It is cross force caused by hull, YRIt is cross force caused by rudder, YDIt is cross force caused by external environment, NpIt is that propeller produces Yawing torque, NHIt is yawing torque, N caused by hullRIt is yawing torque caused by rudder, NDIt is yawing caused by external environment Torque, KpIt is rolling moment caused by propeller, KHIt is rolling moment caused by hull, KRIt is rolling moment caused by rudder, KDIt is Rolling moment caused by external environment, P are angular velocity in rolls,For longitudinal acceleration,For transverse acceleration,Accelerate for yawing Degree,For roll acceleration.
Specifically, table 1 is hull parameters table, and table 2 is hull relevant parameter table.
Table 1
Table 2
Title Tugboat Barge Fleet
Overall length (m) 28 97.2 125.2
Molded breadth (m) 11 18 18
Moldeed depth (m) 5.2 5.5 —
Absorb water (m) 3.2 3.2 3.2
Displacement (t) 537.1 4731 5268.1
Prismatic coefficient 0.649 0.856 —
Block Coefficient 0.580 0.845 —
Frontal projected area (m on waterline2) 55.8 41.4 97.2
Projected area (m on the upside of waterline2) 223.56 139.1 362.66
The flow of fleet's mathematical modeling operation is by the continuous calculating to input data, so as to change the stress feelings of ship Condition is reacted in ship motion again, and most it is shown in interface and exports ships data at last.During model running, first Related data are inputted, most of ships data has determined in Ship Design, including main ship type data captain, The hull data such as the beam, drinking water and Block Coefficient, the equally data also including propeller and the data of rudder.It is current embodiment require that defeated The parameter entered is the power and steering wheel rudder angle of main frame, and different thrust can be produced by inputting different main engine powers, in resistance and is pushed away Ship can produce different speed under the interaction of power, input different rudder angles can produce different lateral thrusts and torque and Heeling moment.Such flow is just essentially identical with the manipulation of true fleet, by the manipulation of sailor or driver, makes fleet Normally navigated by water.The present embodiment is slightly different in steering with other merchant ships, and difference is that pusher train is moving backward When, it is to turn to fleet by grasping backing rudder, the rudder power of positive car rudder and backing rudder takes different solution modes, its positive car rudder The method that power uses empirical equation, its backing rudder power take the method that data calculate, and afterwards substitute into fleet's active force of correlation Calculated in the equation of motion, fleet's exercise data that final output needs.The method other side of integration is solved using Runge Kutta Formula (1) is settled accounts, and solves u, v, r, p in equation (1), and then show the motion state of ship.
The inertia hydrodynamic force of ship can produce additional mass and added moment of inertia, on additional mass and added moment of inertia Approximate method for evaluation of extra has a lot, there is shaking test method, shock experiment method and planar motion mechanism method etc..It is in the present embodiment calculating Use is more convenient, and the inertia hydrodynamic force uses formula：
Wherein, L, B, d represent length and width and the drinking water of ship, C respectivelybThen represent the Block Coefficient of ship.
Further, the additional mass bag that fleet is calculated according to the ship inertia hydrodynamic force and viscous hydrodynamic forces Include：
The additional mass of fleet is calculated, wherein, C represents fleet, and T represents to push boat, and B represents barge, mxT、myT、mzzTRespectively The longitudinal additional mass, horizontal additional mass, ship for representing to push boat are around the added moment of inertia of z-axis, mxc、myc、mzzcRepresent respectively Longitudinal additional mass of fleet, horizontal additional mass, ship are around the added moment of inertia of z-axis, mxB、myB、mzzBBarge is represented respectively Longitudinal additional mass, horizontal additional mass, ship is around the added moment of inertia of z-axis, mzzBThe moment of inertia for barge around z-axis, mzzT To push boat around the moment of inertia of z-axis, LB、LTThe respectively captain of barge and push wheel, XgcIt is fleet's center of gravity x-axis to coordinate, K1、K2Point Horizontal and vertical inertia coeffeicent, K are not represented3Inertia coeffeicent for fleet around z-axis, K1、K2、K3Numerical values recited and fleet Formation form is relevant, in the present embodiment one push away one pusher train K1、K2、K3Take 1.
Specifically, it is converted into the additional mass of ship and attached with the additional mass of barge and added moment of inertia pushing boat Add the moment of inertia, we calculate the additional mass of fleet using equation below (3).Wherein, mxT、mxBFollow the m of equation (1)xCalculate Method is calculated, myT、myBFollow the m of equation (1)yComputational methods are calculated, JzzBFollow the J of equation (1)zzComputational methods are entered Row calculates.The m being calculated by equation (3)xC、myC、JzzCFor the m of equation (1)x、my、Jzz。
Further, the viscous hydrodynamic forces of the ship calculate and use open country model
Wherein, for longitudinal hydrodynamic force XHCalculating, lateral resistance and steering resistance suffered by be reduced to only v, a r Coupling terms.Horizontal hydrodynamic force YHAnd NHCalculating, be broken down into by heel power and do not distinguished by two parts of heel power Calculate, XHFor longitudinal hydrodynamic force, YHFor horizontal hydrodynamic force, NHIt is hydrodynamic force away from YH0、NH0For the fluid dynamic not influenceed by heel And torque, YH1、NH1To be included in the cross force and torque that transverse movement need to add, xCFleet's center of gravity, X (u) are longitudinal resistance, XvrThe power that vr is lateral resistance and steering resistance merges.
Specifically, the solution mode of viscous hydrodynamic forces and torque is numerous, and various methods cut both ways, from economical and convenient Property angle analysis, the method for empirical equation is optimal, the conventional empirical equation model for being used for viscous hydrodynamic forces and torque and estimating There are model on well, your island model, but both the above model does not consider that rolling influences.The unmounted model of the present embodiment fleet four needs Consider the influence of rolling, therefore use open country model.
Further, the airscrew thrust calculates and uses formula
Wherein, subscript (p), (s) represent left screw and right side propeller, t respectivelypFor the thrust deduction of propeller, b For the spacing between two propellers, nPFor the rotating speed of propeller, DPFor the diameter of propeller, uP(s)For the speed of entering of propeller, WPFor Wake factor, KT(JP) be catheter propeller thrust coefficient, TP、YPRespectively propeller is in X, the power of Y-direction, T(s)Indulged for propeller To thrust, Js(s)For propeller advance coefficient.
Specifically, the overwhelming majority that pushes boat of team of pushing boat is to use fixed diversion pipe propeller, is on symmetrical in ship Double-propeller structure.The present embodiment model based on single-blade thrust is calculated, it is contemplated that oar and hull and rudder it is mutual Interference, propeller ahead thrust computational methods are following (5) using formula.Equation (5) T of 2 times be calculatedPFor equation X in formula (1)P, 2 times equation (5) NPFor the N in equation (1)P, 2 times equation (5) YPFor the Y in equation (1)PDeng In 0, KPIt is same to be equal to 0.
Further, the calculating of the rudder power and torque uses
Wherein, FNpIt is expressed as left rudder normal force, FNsIt is expressed as the normal force of right standard rudder, αHSystem is influenceed for rudder and hull hydrodynamic Number, xRFor the longitudinal coordinate at rudder center, zRFor the vertical coordinate at rudder center；(1-tR) be ship after rudder correction factor, XR、 YR、NR、LRRespectively rudder caused power on this four direction, δ is rudder angle.
Specifically, the rudder structure of pusher train is one positive car rudder of outfit after each propeller, in each spiral shell Two backing rudders are equipped with before revolving oar.Because pushing boat equipped with two propellers, it is also to belong to double oar Twin Rudders ships to push boat.In rudder In the computational methods of power and torque, considered first with the computational methods of single-blade principle, then the accounting equation of rudder power and torque (6) X obtainedR、YR、NR、LR2 times be respectively equation (1) in XR、YR、NR、KR.It is considered as little Zhan sides of a ship ratio as shown in figure 3, steering Wing, under constant current U, the effective angle of attack of rudder is α, and the stress by taking the section of rudder as an example is as shown in the figure.C is chord length, IPFor Center of Pressure from leading edge with a distance from, FRFor making a concerted effort on rudder, D is the power along water (flow) direction, and L is perpendicular to water (flow) direction Power, FTFor the power parallel to rudder direction, FNFor perpendicular to the power of rudder.
The present invention provides certain theoretical foundation for the maneuverability forecast of inland river fleet, in inspection of competency certificates held training apparatus development side Face has certain actual application value.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent The present invention is described in detail pipe foregoing embodiments, it will be understood by those within the art that：It still may be used To be modified to the technical scheme described in foregoing embodiments, either which part or all technical characteristic are carried out etc. With replacement；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technical scheme Scope.

Claims (7)

  1. A kind of 1. inland river pusher train analogy method, it is characterised in that including：
    The ship parameter of inland river pusher train is obtained, the parameter includes：Bargemaster, the captain that pushes boat, the barge beam, ship of pushing boat Width, barge drinking water, drinking water of pushing boat, barge Block Coefficient and Block Coefficient of pushing boat；
    According to push boat captain and bargemaster, the beam and beam of pushing boat of pushing boat, the barge drinking water and drinking water of pushing boat Determine the origin of coordinates of fleet's coordinate system and the center of gravity of the fleet；
    It is a point that the origin of coordinates and the center of gravity, which are overlapped, the fleet's four-degree-of-freedom equation of motion being simplified；
    According to push boat captain and bargemaster, the beam and barge beam of pushing boat, the barge drinking water and drinking water of pushing boat And the Block Coefficient Ship ' inertia hydrodynamic force and viscous hydrodynamic forces of ship；
    The additional mass of fleet is calculated according to the ship inertia hydrodynamic force and viscous hydrodynamic forces；
    According to the rotating speed of propeller, diameter, enter speed, the thrust coefficient of wake factor and catheter propeller calculates the thrust of propeller, The rudder power of ship；
    The additional mass, airscrew thrust and the rudder power are substituted into Runge Kutta to the acceleration and speed for calculating fleet Degree；
    Simulator is simulated true inland river pusher train according to the acceleration and speed of the fleet and navigated by water.
  2. 2. according to the method for claim 1, it is characterised in that fleet's four-degree-of-freedom equation of motion of the simplification For：
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    Wherein, IxxThe moment of inertia for ship around x-axis, JxxAdded moment of inertia for ship around x-axis, IzzInertia for ship around z-axis Square, JzzAdded moment of inertia for ship around z-axis, m are fleet's quality, mxFor longitudinal additional mass, myFor horizontal additional mass, v It is horizontal speed, r is yawing angular speed, and u is longitudinal velocity, XpIt is longitudinal force caused by propeller, XHIt is to be indulged caused by hull Xiang Li, XRIt is longitudinal force caused by rudder, XDIt is longitudinal force caused by external environment, YpIt is cross force caused by propeller, YHIt is ship Cross force, Y caused by bodyRIt is cross force caused by rudder, YDIt is cross force caused by external environment, NpIt is bow caused by propeller Shake torque, NHIt is yawing torque, N caused by hullRIt is yawing torque caused by rudder, NDIt is yawing torque caused by external environment, KpIt is rolling moment caused by propeller, KHIt is rolling moment caused by hull, KRIt is rolling moment caused by rudder, KDIt is extraneous Rolling moment caused by environment, P are angular velocity in rolls,For longitudinal acceleration,For transverse acceleration,For yawing acceleration, For roll acceleration.
  3. 3. according to the method for claim 2, it is characterised in that the calculating inertia hydrodynamic force uses formula：
    <mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mfrac> <msub> <mi>m</mi> <mi>x</mi> </msub> <mi>m</mi> </mfrac> <mo>=</mo> <mfrac> <mn>1</mn> <mn>100</mn> </mfrac> <mo>&amp;lsqb;</mo> <mn>0.398</mn> <mo>+</mo> <mn>11.97</mn> <msub> <mi>C</mi> <mi>b</mi> </msub> <mrow> <mo>(</mo> <mn>1</mn> <mo>+</mo> <mn>3.73</mn> <mfrac> <mi>d</mi> <mi>B</mi> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mn>2.89</mn> <mfrac> <mi>L</mi> <mi>B</mi> </mfrac> <mrow> <mo>(</mo> <mn>1</mn> <mo>+</mo> <mn>1.13</mn> <mfrac> <mi>d</mi> <mi>B</mi> </mfrac> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>+</mo> <mn>0.175</mn> <msup> <mrow> <mo>(</mo> <mfrac> <mi>L</mi> <mi>B</mi> </mfrac> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mrow> <mo>(</mo> <mn>1</mn> <mo>+</mo> <mn>0.541</mn> <mfrac> <mi>d</mi> <mi>B</mi> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mn>1.107</mn> <mfrac> <mi>L</mi> <mi>B</mi> </mfrac> <mfrac> <mi>d</mi> <mi>B</mi> </mfrac> <mo>&amp;rsqb;</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <msub> <mi>m</mi> <mi>y</mi> </msub> <mi>m</mi> </mfrac> <mo>=</mo> <mn>0.882</mn> <mo>-</mo> <mn>0.54</mn> <msub> <mi>C</mi> <mi>b</mi> </msub> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mn>1.6</mn> <mfrac> <mi>d</mi> <mi>B</mi> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mn>0.156</mn> <mfrac> <mi>L</mi> <mi>B</mi> </mfrac> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mn>0.673</mn> <msub> <mi>C</mi> <mi>b</mi> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>+</mo> <mn>0.826</mn> <mfrac> <mi>L</mi> <mi>B</mi> </mfrac> <mfrac> <mi>d</mi> <mi>B</mi> </mfrac> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mn>0.678</mn> <mfrac> <mi>d</mi> <mi>B</mi> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mn>0.638</mn> <msub> <mi>C</mi> <mi>b</mi> </msub> <mfrac> <mi>L</mi> <mi>B</mi> </mfrac> <mfrac> <mi>d</mi> <mi>B</mi> </mfrac> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mn>0.669</mn> <mfrac> <mi>d</mi> <mi>B</mi> </mfrac> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msqrt> <mrow> <mo>(</mo> <mfrac> <msub> <mi>J</mi> <mrow> <mi>z</mi> <mi>z</mi> </mrow> </msub> <mi>m</mi> </mfrac> <mo>)</mo> </mrow> </msqrt> <mo>=</mo> <mfrac> <mn>1</mn> <mn>100</mn> </mfrac> <mi>L</mi> <mo>&amp;lsqb;</mo> <mn>33</mn> <mo>-</mo> <mn>76.85</mn> <msub> <mi>C</mi> <mi>b</mi> </msub> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mn>0.784</mn> <msub> <mi>C</mi> <mi>b</mi> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mn>3.43</mn> <mfrac> <mi>L</mi> <mi>B</mi> </mfrac> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mn>0.63</mn> <msub> <mi>C</mi> <mi>b</mi> </msub> <mo>)</mo> </mrow> <mo>&amp;rsqb;</mo> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>
    Wherein, L represents the length of ship, and B represents the width of ship, and d represents the drinking water of ship, CbThen represent the Block Coefficient of ship.
  4. 4. according to the method for claim 2, it is characterised in that described according to the ship inertia hydrodynamic force and sticky hydrodynamic(al) Power calculates the additional mass of fleet, including：
    According to formula
    <mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>m</mi> <mrow> <mi>x</mi> <mi>C</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>m</mi> <mrow> <mi>x</mi> <mi>T</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>K</mi> <mn>1</mn> </msub> <msub> <mi>m</mi> <mrow> <mi>x</mi> <mi>B</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>m</mi> <mrow> <mi>y</mi> <mi>C</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>m</mi> <mrow> <mi>y</mi> <mi>T</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>K</mi> <mn>2</mn> </msub> <msub> <mi>m</mi> <mrow> <mi>y</mi> <mi>B</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>J</mi> <mrow> <mi>z</mi> <mi>z</mi> <mi>C</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>J</mi> <mrow> <mi>z</mi> <mi>z</mi> <mi>C</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>K</mi> <mn>3</mn> </msub> <msub> <mi>m</mi> <mrow> <mi>z</mi> <mi>z</mi> <mi>T</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>m</mi> <mrow> <mi>y</mi> <mi>T</mi> </mrow> </msub> <msup> <mrow> <mo>(</mo> <msub> <mi>L</mi> <mi>B</mi> </msub> <mo>-</mo> <msub> <mi>X</mi> <mrow> <mi>g</mi> <mi>c</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>L</mi> <mi>T</mi> </msub> <mo>/</mo> <mn>2</mn> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msub> <mi>K</mi> <mn>2</mn> </msub> <msub> <mi>m</mi> <mrow> <mi>z</mi> <mi>z</mi> <mi>B</mi> </mrow> </msub> <msup> <mrow> <mo>(</mo> <msub> <mi>X</mi> <mrow> <mi>g</mi> <mi>c</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>L</mi> <mi>B</mi> </msub> <mo>/</mo> <mn>2</mn> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>
    The additional mass of fleet is calculated, wherein, C represents fleet, and T represents to push boat, and B represents barge, mxT、myT、mzzTRepresent to push away respectively Longitudinal additional mass of ship, horizontal additional mass, ship are around the added moment of inertia of z-axis, mxc、myc、mzzcFleet is represented respectively Longitudinal additional mass, horizontal additional mass, ship are around the added moment of inertia of z-axis, mxB、myB、mzzBThe longitudinal direction of barge is represented respectively Additional mass, horizontal additional mass, ship are around the added moment of inertia of z-axis, mzzBThe moment of inertia for barge around z-axis, mzzTTo push boat Around the moment of inertia of z-axis, LB、LTThe respectively captain of barge and push wheel, XgcIt is fleet's center of gravity x-axis to coordinate, K1、K2Represent respectively Horizontal and vertical inertia coeffeicent, K3Inertia coeffeicent for fleet around z-axis.
  5. 5. according to the method for claim 2, it is characterised in that the viscous hydrodynamic forces of the ship calculate and use open country model
    <mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>X</mi> <mi>H</mi> </msub> <mo>=</mo> <mi>X</mi> <mrow> <mo>(</mo> <mi>u</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>X</mi> <mrow> <mi>v</mi> <mi>r</mi> </mrow> </msub> <mi>v</mi> <mi>r</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>Y</mi> <mi>H</mi> </msub> <mo>=</mo> <msub> <mi>Y</mi> <mrow> <mi>H</mi> <mn>0</mn> </mrow> </msub> <mrow> <mo>(</mo> <mi>v</mi> <mo>,</mo> <mi>r</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>Y</mi> <mrow> <mi>H</mi> <mn>1</mn> </mrow> </msub> <mrow> <mo>(</mo> <mi>v</mi> <mo>,</mo> <mi>r</mi> <mo>,</mo> <mi>&amp;phi;</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>N</mi> <mi>H</mi> </msub> <mo>=</mo> <msub> <mi>N</mi> <mrow> <mi>H</mi> <mn>0</mn> </mrow> </msub> <mrow> <mo>(</mo> <mi>v</mi> <mo>,</mo> <mi>r</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>N</mi> <mrow> <mi>H</mi> <mn>1</mn> </mrow> </msub> <mrow> <mo>(</mo> <mi>v</mi> <mo>,</mo> <mi>r</mi> <mo>,</mo> <mi>&amp;phi;</mi> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>Y</mi> <mi>H</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>x</mi> <mi>C</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>
    Wherein, for longitudinal hydrodynamic force XHCalculating, suffered lateral resistance and steering resistance are reduced to only one v, r coupling Close item.Horizontal hydrodynamic force YHAnd NHCalculating, be broken down into being counted respectively by heel power and not by two parts of heel power Calculate, XHFor longitudinal hydrodynamic force, YHFor horizontal hydrodynamic force, NHIt is hydrodynamic force away from YH0、NH0For the fluid dynamic that is not influenceed by heel and Torque, YH1、NH1To be included in the cross force and torque that transverse movement need to add, xCFleet's center of gravity, X (u) are longitudinal resistance, Xvrvr The power merged for lateral resistance and steering resistance.
  6. 6. according to the method for claim 5, it is characterised in that the airscrew thrust calculates and uses formula
    <mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>T</mi> <mi>P</mi> </msub> <mo>=</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <msub> <mi>t</mi> <mi>p</mi> </msub> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mrow> <mo>(</mo> <mi>p</mi> <mo>)</mo> </mrow> </msub> <mo>+</mo> <msub> <mi>T</mi> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>Y</mi> <mi>P</mi> </msub> <mo>=</mo> <mn>0</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>N</mi> <mi>P</mi> </msub> <mo>=</mo> <mfrac> <mi>b</mi> <mn>2</mn> </mfrac> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <msub> <mi>t</mi> <mi>p</mi> </msub> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mrow> <mo>(</mo> <mi>p</mi> <mo>)</mo> </mrow> </msub> <mo>-</mo> <msub> <mi>T</mi> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>T</mi> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </msub> <mo>=</mo> <msup> <msub> <mi>&amp;rho;n</mi> <mi>P</mi> </msub> <mn>2</mn> </msup> <msup> <msub> <mi>D</mi> <mi>P</mi> </msub> <mn>4</mn> </msup> <msub> <mi>K</mi> <mi>T</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>J</mi> <mi>P</mi> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>J</mi> <mrow> <mi>s</mi> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> </msub> <mo>=</mo> <mfrac> <msub> <mi>u</mi> <mrow> <mi>P</mi> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> </msub> <mrow> <msub> <mi>n</mi> <mi>p</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>D</mi> <mi>P</mi> </msub> </mrow> </mfrac> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>u</mi> <mrow> <mi>P</mi> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> </msub> <mo>=</mo> <msub> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <msub> <mi>W</mi> <mi>P</mi> </msub> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </msub> <mi>u</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>5</mn> <mo>)</mo> </mrow> </mrow>
    Wherein, subscript (p), (s) represent left screw and right side propeller, t respectivelypFor the thrust deduction of propeller, b two Spacing between individual propeller, nPFor the rotating speed of propeller, DPFor the diameter of propeller, uP(s)For the speed of entering of propeller, WPFor wake Coefficient, KT(JP) be catheter propeller thrust coefficient, TP、YPRespectively propeller is in X, the power of Y-direction, T(s)For propeller longitudinal direction Thrust, Js(s)For propeller advance coefficient.
  7. 7. according to the method for claim 2, it is characterised in that the calculating of the rudder power and torque uses
    <mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>X</mi> <mi>R</mi> </msub> <mo>=</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <msub> <mi>t</mi> <mi>R</mi> </msub> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>F</mi> <mrow> <mi>N</mi> <mi>p</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>F</mi> <mrow> <mi>N</mi> <mi>s</mi> </mrow> </msub> <mo>)</mo> </mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;delta;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>Y</mi> <mi>R</mi> </msub> <mo>=</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>+</mo> <msub> <mi>&amp;alpha;</mi> <mi>H</mi> </msub> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>F</mi> <mrow> <mi>N</mi> <mi>p</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>F</mi> <mrow> <mi>N</mi> <mi>s</mi> </mrow> </msub> <mo>)</mo> </mrow> <mi>cos</mi> <mi>&amp;delta;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>N</mi> <mi>R</mi> </msub> <mo>=</mo> <msub> <mi>x</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>1</mn> <mo>+</mo> <msub> <mi>&amp;alpha;</mi> <mi>H</mi> </msub> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>F</mi> <mrow> <mi>N</mi> <mi>p</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>F</mi> <mrow> <mi>N</mi> <mi>s</mi> </mrow> </msub> <mo>)</mo> </mrow> <mi>cos</mi> <mi>&amp;delta;</mi> <mo>-</mo> <mi>b</mi> <mo>/</mo> <mn>2</mn> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <msub> <mi>t</mi> <mi>R</mi> </msub> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>F</mi> <mrow> <mi>N</mi> <mi>p</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>F</mi> <mrow> <mi>N</mi> <mi>s</mi> </mrow> </msub> <mo>)</mo> </mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;delta;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>=</mo> <msub> <mi>z</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>1</mn> <mo>+</mo> <msub> <mi>&amp;alpha;</mi> <mi>H</mi> </msub> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>F</mi> <mrow> <mi>N</mi> <mi>p</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>F</mi> <mrow> <mi>N</mi> <mi>s</mi> </mrow> </msub> <mo>)</mo> </mrow> <mi>cos</mi> <mi>&amp;delta;</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>6</mn> <mo>)</mo> </mrow> </mrow>
    Wherein, FNpIt is expressed as left rudder normal force, FNsIt is expressed as the normal force of right standard rudder, αHCoefficient is influenceed for rudder and hull hydrodynamic, xRFor the longitudinal coordinate at rudder center, zRFor the vertical coordinate at rudder center；(1-tR) be ship after rudder correction factor, XR、YR、 NR、LRRespectively rudder caused power on this four direction, δ is rudder angle.
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CN111611650A (en) * 2020-05-18 2020-09-01 智慧航海（青岛）科技有限公司 Method, computer-readable storage medium, and apparatus for determining hydrodynamic derivative
CN113836631A (en) * 2020-06-24 2021-12-24 中国船舶重工集团公司第七一一研究所 Ship motion simulation method and ship motion simulation system
CN111693251A (en) * 2020-08-04 2020-09-22 中国船舶科学研究中心 Method for measuring hydrodynamic interference coefficient of rudder by paddles
CN111693251B (en) * 2020-08-04 2021-12-28 中国船舶科学研究中心 Method for measuring hydrodynamic interference coefficient of rudder by paddles
CN112034705A (en) * 2020-08-05 2020-12-04 智慧航海（青岛）科技有限公司 Propeller and rudder control method for ship dynamic positioning
CN112034705B (en) * 2020-08-05 2022-05-03 智慧航海（青岛）科技有限公司 Propeller and rudder control method for ship dynamic positioning
CN112379591A (en) * 2020-10-22 2021-02-19 智慧航海（青岛）科技有限公司 Thrust distribution optimization method considering propeller performance
CN112379591B (en) * 2020-10-22 2022-05-03 智慧航海（青岛）科技有限公司 Thrust distribution optimization method considering propeller performance
CN112379671A (en) * 2020-11-18 2021-02-19 四方智能(武汉)控制技术有限公司 Simulation calculation method for position of unmanned ship
CN116341424A (en) * 2023-05-30 2023-06-27 交通运输部天津水运工程科学研究所 Comprehensive calculation method for water flow force acting on ship
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