Studies On Maneuverability Of Three Types Of Ship And Tracking Control Of Trimaran

With the development of the shipping industry,the density of ships has increased and the speed of ships has been increased.Transport ships are becoming larger and more specialized and sometimes need to navigate in restricted waters.In order to meet the needs of national defense,marine and rescue engineering and other fields,the development of small waterplane surface high-performance ships has been promoted.Single-propeller and single-rudder ships are the most commonly used ship types for sea transportation.Double-rudder and double-propeller ships are increasingly used in passenger ships,military vessels,engineering ships and some transport ship.As high-performance small water line ships catamarans and trimarans have played an increasingly important role in the national economy and military vessels in recent years.Studying the maneuverability of the above-mentioned ship types has theoretical significance and engineering application value for improving the safety and economy of its ships.In this paper,the maneuverability of single rudder and single propeller,double rudder and double propeller and small waterplane area trimaran and the motion control of trimaran are systematically studied.The main research work is completed as follows:(1)The mathematical model of ship maneuvering motion was established,and the calculation of ship fluid dynamics and moments,ship's main power and main dynamic moments,and ship interference forces(wind,waves,currents)and moments were completed.(2)The author completed the calculation and simulation of maneuverability of a typical single-propeller and single-rudder ship,including calculation and drawing of large-scale container ship gyration experiments,Z-shaped experimental curves,etc.Simulation results based on actual ship data are demonstrated.The maneuverability of various types of single-propeller and single-rudder ships and the influence of ship parameters on ship maneuvering are investigated.(3)The maneuverability of twin-propeller twin-rudder ships is discussed,and simulation results of large container ships,ro-ro passenger ships and military ships based on actual ship data are given.The simulation studies are finished for amendments and improvements of the maneuverability mathematical model of the twin-propeller and twin-rudder ship in shallow water and its maneuverability in the shallow water model.(4)The author completed the modeling and maneuverability research of high-speed catamaran and trimaran,discussed the path tracking method of unmanned trimaran based on line-of-sight method,and completed the controller design and stability analysis.The simulation results of the unmanned trimaran path tracking control based on the improved line of sight method are presented,and the effectiveness of the unmanned trimaran path tracking method based on the line of sight method is verified.(5)Based on the aforementioned simulation examples of several ship types,the influence of ship types on ship maneuverability is analyzed.