CN115258073B - 环境干扰下的船舶拖曳系统轨迹跟踪方法 - Google Patents
环境干扰下的船舶拖曳系统轨迹跟踪方法 Download PDFInfo
- Publication number
- CN115258073B CN115258073B CN202210947853.0A CN202210947853A CN115258073B CN 115258073 B CN115258073 B CN 115258073B CN 202210947853 A CN202210947853 A CN 202210947853A CN 115258073 B CN115258073 B CN 115258073B
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- China
- Prior art keywords
- towed
- vessel
- towed vessel
- ship
- tug
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000007613 environmental effect Effects 0.000 claims abstract description 25
- 238000007605 air drying Methods 0.000 claims abstract description 11
- 239000011159 matrix material Substances 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 9
- 238000013016 damping Methods 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000004088 simulation Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 240000006829 Ficus sundaica Species 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/66—Tugs
- B63B35/68—Tugs for towing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210947853.0A CN115258073B (zh) | 2022-08-09 | 2022-08-09 | 环境干扰下的船舶拖曳系统轨迹跟踪方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210947853.0A CN115258073B (zh) | 2022-08-09 | 2022-08-09 | 环境干扰下的船舶拖曳系统轨迹跟踪方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN115258073A CN115258073A (zh) | 2022-11-01 |
CN115258073B true CN115258073B (zh) | 2024-05-07 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN202210947853.0A Active CN115258073B (zh) | 2022-08-09 | 2022-08-09 | 环境干扰下的船舶拖曳系统轨迹跟踪方法 |
Country Status (1)
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CN (1) | CN115258073B (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116540730B (zh) * | 2023-05-30 | 2024-04-19 | 武汉理工大学 | 多拖轮协作的靠离泊智能辅助系统及方法 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA1147566A (en) * | 1980-08-12 | 1983-06-07 | Dennis E. Yenzer | Method of laying offshore pipeline from a reel carrying vessel |
FI852977A0 (fi) * | 1984-08-17 | 1985-08-01 | Faredoon Rustom Mistry | Bogserbaot foer assistens av stoerre fartyg. |
US6910436B1 (en) * | 2004-05-05 | 2005-06-28 | Hayman, Iii W. Zack | Propulsion steered towboat |
CN107067871A (zh) * | 2017-06-14 | 2017-08-18 | 大连海事大学 | 拖轮傍拖大型油轮工况的仿真系统 |
CN109508022A (zh) * | 2019-01-14 | 2019-03-22 | 哈尔滨工程大学 | 基于分层制导与拖曳力补偿的双无人艇协同溢油围捕方法 |
CN109890691A (zh) * | 2016-07-01 | 2019-06-14 | 劳斯莱斯船业公司 | 动态拖船绞盘控制 |
JP2021059225A (ja) * | 2019-10-07 | 2021-04-15 | 川崎重工業株式会社 | 操船支援システム |
-
2022
- 2022-08-09 CN CN202210947853.0A patent/CN115258073B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA1147566A (en) * | 1980-08-12 | 1983-06-07 | Dennis E. Yenzer | Method of laying offshore pipeline from a reel carrying vessel |
FI852977A0 (fi) * | 1984-08-17 | 1985-08-01 | Faredoon Rustom Mistry | Bogserbaot foer assistens av stoerre fartyg. |
US6910436B1 (en) * | 2004-05-05 | 2005-06-28 | Hayman, Iii W. Zack | Propulsion steered towboat |
CN109890691A (zh) * | 2016-07-01 | 2019-06-14 | 劳斯莱斯船业公司 | 动态拖船绞盘控制 |
CN107067871A (zh) * | 2017-06-14 | 2017-08-18 | 大连海事大学 | 拖轮傍拖大型油轮工况的仿真系统 |
CN109508022A (zh) * | 2019-01-14 | 2019-03-22 | 哈尔滨工程大学 | 基于分层制导与拖曳力补偿的双无人艇协同溢油围捕方法 |
JP2021059225A (ja) * | 2019-10-07 | 2021-04-15 | 川崎重工業株式会社 | 操船支援システム |
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CN115258073A (zh) | 2022-11-01 |
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Inventor after: Zhang Lei Inventor after: Liu Wenjie Inventor after: Wang Dakun Inventor after: Du Lei Inventor after: Ma Yong Inventor after: Gan Langxiong Inventor after: Li Xiaobin Inventor before: Zhang Lei Inventor before: Liu Wenjie Inventor before: Wang Dakun Inventor before: Du Lei Inventor before: Ma Yong Inventor before: Gan Langxiong Inventor before: Li Xiaobin |
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