船舶航向保持中混沌现象的进一步研究

发布时间：2019-06-03 08:21

【摘要】：船舶是一个多变量耦合、非线性、大时滞的复杂动态系统。航行中航速增减、装载状态的变化极易造成模型摄动,且航行环境中风、浪、流等外界干扰的不确定性,使得船舶在船舶运动中会出现混沌运动。而这种混沌运动,对船舶运动控制起到了消极破坏作用。本文以大型油船及军舰航向保持运动作为研究对象,编写了一套较为完善的仿真分析程序,对实船进行了大量仿真分析,对研究油船及军舰航向保持中的混沌运动特性分析具有极为重要的理论参考和实践指导意义。本文在MATLAB口VB环境下设计编写了一系列较为完善的分析船舶航向保持中混沌特性的仿真程序,采用该程序对前人的研究成果进行了混沌特性验证及分析,获得了各种典型混沌现象仿真结果,为采用实船参数进行船舶混沌特性分析打下了基础。利用4艘大型油船实船参数和某型军舰进行了航向保持中的混沌模型的混沌特性分析；并针对模型中未能考虑驾驶员在船舶操纵闭环中所起作用的不足,对航向保持中的混沌模型进行了改进,建立了闭环的驾驶员航向保持混沌模型,以军舰的实船模型数据进行了闭环的驾驶员航向保持混沌模型混沌特性分析,得到了较为理想的仿真结果。仿真结果表明,在参数配置得当的情况下,某些船舶会在外界海浪的干扰下产生混沌运动。在考虑驾驶员在船舶操纵闭环中所起作用时,以相同的参数进行仿真,不改变船舶的混沌运动状态,从而可以更好地描述船舶的运动特性。
[Abstract]:Ship is a complex dynamic system with multivariable coupling, nonlinear and large time delay. With the increase and decrease of navigation speed, the change of loading state is easy to cause model perturbation, and the uncertainty of external interference such as stroke, wave and current in navigation environment makes the ship appear chaotic motion in ship motion. This chaotic motion plays a negative destructive role in the control of ship motion. In this paper, taking the course keeping motion of large oil tankers and warships as the research object, a set of perfect simulation analysis programs are compiled, and a large number of simulation analysis of real ships is carried out. It has very important theoretical reference and practical guiding significance for the analysis of chaotic motion characteristics in the course maintenance of oil tankers and warships. In this paper, a series of perfect simulation programs for analyzing chaotic characteristics in ship course maintenance are designed and compiled in VB environment of MATLAB port, and the chaotic characteristics of previous research results are verified and analyzed by using this program. The simulation results of various typical chaotic phenomena are obtained, which lays a foundation for the analysis of ship chaotic characteristics by using real ship parameters. The chaotic characteristics of the chaotic model in course maintenance are analyzed by using the real ship parameters of four large oil tankers and a certain type of warship. In order to solve the problem that the role of the pilot in the closed loop of ship maneuvering can not be taken into account in the model, the chaotic model of course keeping in the course keeping is improved, and the chaotic model of the course keeping of the pilot in the closed loop is established. Based on the real ship model data of warships, the chaotic characteristics of the closed-loop pilot course retention chaos model are analyzed, and the ideal simulation results are obtained. The simulation results show that some ships will produce chaotic motion under the interference of external waves when the parameters are properly configured. When considering the role of the pilot in the closed loop of ship maneuvering, the simulation is carried out with the same parameters, which does not change the chaotic motion state of the ship, so that the motion characteristics of the ship can be better described.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U664.82

【相似文献】