【摘要】：船舶操縱性作為船舶重要的航行性能之一,一直以來與船舶海上航行安全有著緊密的聯(lián)系,受到了國際海事組織、各國政府以及專家學(xué)者們的廣泛關(guān)注。根據(jù)統(tǒng)計(jì),近十年來與船舶操縱性有關(guān)的海上交通事故類型的事故數(shù)占海上交通事故總數(shù)超過30%,凸顯出船舶操縱性在船舶海上航行安全中的重要性。同時(shí),隨著未來船舶向著智能化和無人化的趨勢發(fā)展,降低了人為因素的影響,船舶操縱性在船舶海上航行安全中的重要性將逐漸增加�；谏鲜鲈�,為了減少與船舶操縱性相關(guān)的海上交通安全事故的發(fā)生數(shù)量,降低相應(yīng)的海上人員和財(cái)產(chǎn)損失,保護(hù)好海洋生態(tài)環(huán)境,本文基于船舶操縱性,從以下三部分開展了船舶海上航行安全研究工作,首先利用實(shí)船操縱性試驗(yàn)獲得的靜態(tài)特征參數(shù)和指標(biāo)開展船舶操縱性評價(jià)研究,然后基于動(dòng)態(tài)的船舶運(yùn)動(dòng)數(shù)學(xué)模型開展船舶操縱運(yùn)動(dòng)控制設(shè)計(jì)與分析研究,最后同時(shí)利用動(dòng)態(tài)的船舶操縱運(yùn)動(dòng)過程和靜態(tài)的操縱性試驗(yàn)特征參數(shù)開展緊迫局面下船舶操縱避碰研究,詳情如下:1.基于IMO和ABS《船舶操縱性標(biāo)準(zhǔn)(準(zhǔn)則)》,利用模糊網(wǎng)絡(luò)分析法提出了一種新穎的基于等級的船舶操縱性評價(jià)模型。該評價(jià)模型能夠初步解決船舶操縱性評價(jià)中各操縱性因素間相互關(guān)聯(lián)、相互影響的問題,并改進(jìn)現(xiàn)有船舶操縱性評價(jià)中各操縱性因素權(quán)重不合理的缺陷�；谠撛u價(jià)模型,使得船舶操縱性評價(jià)的過程及結(jié)果更為合理,并對各操縱性因素賦予了合理的權(quán)重值。最后,利用三艘船舶實(shí)船操縱性試驗(yàn)數(shù)據(jù)確定船舶操縱性等級,并進(jìn)行分析和對比研究,結(jié)果表明該評價(jià)模型的合理性和有效性。通過確定船舶操縱性等級,能直觀、準(zhǔn)確的反映船舶操縱性是否滿足海上航行安全的最低要求,并能夠?yàn)檫M(jìn)一步提升船舶操縱性和海上航行安全水平提供理論支撐。2.針對一類增益已知的不確定嚴(yán)格反饋離散時(shí)間非線性系統(tǒng),提出了一種新穎的自適應(yīng)神經(jīng)網(wǎng)絡(luò)控制設(shè)計(jì),并進(jìn)一步對增益未知的船舶操縱運(yùn)動(dòng)離散時(shí)間非線性系統(tǒng)進(jìn)行控制設(shè)計(jì)與分析。通過將單一神經(jīng)網(wǎng)絡(luò)控制技術(shù)和最少學(xué)習(xí)參數(shù)算法相結(jié)合,所提出控制算法能夠較好的解決常規(guī)自適應(yīng)后推控制設(shè)計(jì)所存在的"復(fù)雜性爆炸"問題和"維數(shù)災(zāi)難"問題,并在控制設(shè)計(jì)中通過引入輔助設(shè)計(jì)系統(tǒng)以有效的克服輸入飽和限制問題。根據(jù)所提方法設(shè)計(jì)的控制器結(jié)構(gòu)簡單,僅包含一個(gè)實(shí)際控制律與一個(gè)自適應(yīng)律,在線學(xué)習(xí)的神經(jīng)網(wǎng)絡(luò)輸入變量和權(quán)重都大為減少,最終整個(gè)系統(tǒng)需要在線學(xué)習(xí)的可調(diào)參數(shù)減少至一個(gè)。與現(xiàn)有控制算法相比,本文所提出的控制結(jié)構(gòu)更為簡單,學(xué)習(xí)參數(shù)最少,并且計(jì)算量也最小。在船舶操縱運(yùn)動(dòng)系統(tǒng)進(jìn)行控制設(shè)計(jì)過程中,通過考慮由實(shí)船船舶操縱性試驗(yàn)結(jié)果分析得到的船舶操縱性指數(shù),使得最終的船舶操縱運(yùn)動(dòng)控制系統(tǒng)能較為準(zhǔn)確反映出船舶在海上實(shí)際操縱過程中的操縱性,為進(jìn)一步開展船舶避碰研究提供堅(jiān)實(shí)的理論基礎(chǔ)。3.開展處于緊迫局面會(huì)遇態(tài)勢下的船舶操縱避碰研究,首先,針對緊迫局面定義下的避碰態(tài)勢,通過將船舶操縱運(yùn)動(dòng)數(shù)學(xué)模型、船舶操縱運(yùn)動(dòng)控制系統(tǒng)、以及船舶動(dòng)態(tài)避碰要素計(jì)算模型相結(jié)合,提出了一種基于操縱性的船舶操縱避碰動(dòng)態(tài)輔助系統(tǒng)。該輔助系統(tǒng)能基本上消除過去在船舶避碰過程中常常忽略船舶操縱性的缺陷,并利用該輔助系統(tǒng)對處于緊迫局面內(nèi)兩船的三種會(huì)遇態(tài)勢進(jìn)行了仿真研究,仿真結(jié)果證明了該輔助系統(tǒng)的合理性和有效性,也表明在避碰過程中考慮船舶操縱性的必要性和重要性。隨后,基于船舶操縱性和協(xié)同學(xué)理論提出了一種新穎的協(xié)同船舶領(lǐng)域模型�；趨f(xié)同學(xué)理論和分析大量實(shí)船操縱旋回試驗(yàn)數(shù)據(jù),所提出的協(xié)同船舶領(lǐng)域模型初步解決了常規(guī)船舶領(lǐng)域中未考慮會(huì)遇船舶間相互影響的問題以及未充分考慮船舶操縱性的不足。與常規(guī)船舶領(lǐng)域相比,所提出的協(xié)同船舶領(lǐng)域更為合理,為減少由于船舶操縱性因素所導(dǎo)致的船舶碰撞事故提供有效的理論基礎(chǔ),以切實(shí)提供船舶海上航行的安全水平。通過開展上述有關(guān)船舶操縱性的研究工作,本文不僅能為當(dāng)前船舶海上航行安全,同時(shí)也為未來智能化和無人化的船舶海上航行安全提供了理論支撐,對提高當(dāng)前和未來的船舶海上航行安全水平具有一定的理論和現(xiàn)實(shí)意義。
[Abstract]:As one of the important navigation performances of the ship, the ship maneuverability has been closely related to the maritime safety of ships, and has been paid close attention by the International Maritime Organization (IMO), the governments of various countries and experts and scholars. According to the statistics, the accidents of maritime traffic accidents related to ship maneuverability over the last decade accounted for more than 30% of total maritime traffic accidents, which highlight the importance of ship maneuverability in marine navigation safety. At the same time, as the future ships develop towards the intelligent and unmanned trend, the influence of human factors is reduced, and the importance of ship maneuverability in marine navigation safety will gradually increase. Based on the above reasons, in order to reduce the occurrence quantity of maritime traffic safety accidents related to ship maneuverability, the corresponding marine personnel and property losses are reduced, and the marine ecological environment is protected, From the following three parts, the safety research work of marine navigation is carried out, firstly, the ship maneuverability evaluation is carried out by using the static characteristic parameters and indexes obtained by the actual ship maneuverability test, and then the ship steering motion control design and analysis research is carried out on the basis of the dynamic ship motion mathematical model, At last, the dynamic ship maneuvering motion process and the static maneuverability test characteristic parameters are used to carry out collision avoidance study under the urgent situation, and the details are as follows: 1. In this paper, a novel class-based ship maneuverability evaluation model is proposed based on fuzzy network analysis. The evaluation model can initially solve the problems of mutual correlation and mutual influence among maneuverability factors in ship maneuverability evaluation, and improve the defects of unreasonable weight of various maneuverability factors in the existing ship maneuverability evaluation. Based on the evaluation model, the process and result of ship maneuverability evaluation are more reasonable, and the reasonable weight value is given to the handling factors. Finally, the ship maneuverability grade is determined by using the ship maneuverability test data of three ships, and the analysis and comparison are carried out. The results show that the evaluation model is reasonable and effective. By determining the ship maneuverability level, it is possible to intuitively and accurately reflect whether the ship's maneuverability meets the minimum requirements of maritime navigation safety, and can provide theoretical support for further improving the ship maneuverability and the safety level of sea navigation. In this paper, a novel adaptive neural network control design is proposed for a class of gain-known discrete-time nonlinear systems that do not determine strict feedback, and the control design and analysis of discrete-time nonlinear systems with unknown gain are presented. By combining the single neural network control technique with the minimum learning parameter algorithm, the proposed control algorithm can solve the problems existing in the conventional self-adaptive push control design. "complexity explosion" Question and "dimension disaster" the problem is solved and the input saturation limit problem is effectively overcome by introducing a design aid system in the control design. According to the method designed by the method, the structure of the controller is simple, only one actual control law and an adaptive law are contained, the input variables and the weights of the neural network input online learning are greatly reduced, and the whole system needs to reduce the adjustable parameters of online learning to one. Compared with the existing control algorithm, the control structure proposed in this paper is simpler, the learning parameters are minimum, and the calculation amount is also the minimum. in that control design proces of the ship steer motion system, the ship maneuverability index obtained by the analysis of the ship maneuverability test result of the real ship is taken into account, so that the final ship steer motion control system can accurately reflect the maneuverability of the ship in the actual operation of the sea, It provides a solid theoretical foundation for further research on ship collision avoidance. carrying out collision avoidance research on ships under the situation of urgent situations, firstly, aiming at the collision avoidance situation under the definition of an urgent situation, combining the ship steering motion mathematical model, the ship steering motion control system and the ship dynamic collision avoidance element calculation model, A dynamic auxiliary system for ship handling collision avoidance based on maneuverability is proposed. the auxiliary system can basically eliminate the defects that the ship maneuverability is often neglected during the collision avoidance process of the ship, and the simulation results prove that the auxiliary system is reasonable and effective, It also shows the necessity and importance of considering ship maneuverability during collision avoidance. Then, a novel cooperative ship domain model is proposed based on ship maneuverability and cooperative student theory. Based on the theory of Synergetics and the analysis of the experimental data of large-scale real-ship maneuvering cycle, the proposed cooperative ship domain model has initially solved the problem of mutual influence among ships in the field of conventional ships, as well as the lack of full consideration of the ship's handling ability. Compared with the conventional ship field, the proposed cooperative ship field is more reasonable, and provides an effective theoretical basis for reducing ship collision accidents caused by ship maneuverability, so as to effectively provide the safety level of ship navigation at sea. Through carrying out the above research work on ship maneuverability, this paper not only provides theoretical support for the navigation safety of the ship at sea, but also provides theoretical support for the future intelligent and unmanned marine navigation safety. It has some theoretical and practical significance for improving the safety level of marine navigation at present and in the future.
【學(xué)位授予單位】：大連海事大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2017
【分類號】：U661.33;U676.1

【相似文獻(xiàn)】

相關(guān)期刊論文 前10條

1 劉正江;船舶操縱性標(biāo)準(zhǔn)[J];世界海運(yùn);1994年02期

2 劉正江;船舶操縱性臨時(shí)標(biāo)準(zhǔn)[J];世界海運(yùn);1995年01期

3 馬志堅(jiān);風(fēng)浪中船舶操縱性問題的探討[J];武漢造船;2001年S1期

4 陳偉民;舵型變化對船舶操縱性能的影響[J];交通部上海船舶運(yùn)輸科學(xué)研究所學(xué)報(bào);2002年01期

5 洪碧光,賈傳熒;大型船舶操縱性能綜合評價(jià)[J];交通運(yùn)輸工程學(xué)報(bào);2002年02期

6 姚杰,卓永強(qiáng),吳兆麟,方祥麟;船舶操縱性綜合評價(jià)方法的研究[J];大連水產(chǎn)學(xué)院學(xué)報(bào);2002年01期

7 熊云峰,毛筱菲;船舶操縱性能的灰關(guān)聯(lián)綜合評估研究[J];船舶;2005年04期

8 王化明;鄒早建;;雙槳雙舵船舶操縱性預(yù)報(bào)研究[J];武漢理工大學(xué)學(xué)報(bào)(交通科學(xué)與工程版);2006年01期

9 熊云峰;陳景鋒;;船舶操縱性能的模糊綜合評估[J];機(jī)電設(shè)備;2006年06期

10 徐言民;劉明俊;;基于旋進(jìn)原則的船舶操縱性預(yù)報(bào)新方法展望[J];交通科技;2007年06期

相關(guān)會(huì)議論文 前10條

1 鄒早建;;船舶操縱性研究進(jìn)展[A];第六屆船舶力學(xué)學(xué)術(shù)委員會(huì)全體會(huì)議專集[C];2006年

2 吳寶山;;第七屆船舶力學(xué)學(xué)術(shù)委員會(huì)操縱性學(xué)組工作總結(jié)報(bào)告[A];七屆更迭 三十回眸——第七屆船舶力學(xué)學(xué)術(shù)委員會(huì)全體會(huì)議論文集[C];2010年

3 陸惠生;;衡準(zhǔn)船舶操縱性優(yōu)劣的實(shí)用圖譜[A];中國航海學(xué)會(huì)優(yōu)秀論文文摘及學(xué)術(shù)會(huì)議論文目次匯編（1990—1991）[C];1992年

4 佟寶德;石愛國;楊寶璋;;風(fēng)浪中船舶操縱性問題[A];中國航海學(xué)會(huì)海洋船舶駕駛專業(yè)委員會(huì)海浪與船舶航行安全及防抗臺(tái)風(fēng)經(jīng)驗(yàn)研討會(huì)論文集[C];1998年

5 鄒早建;;船舶操縱性數(shù)值船池開發(fā)與應(yīng)用[A];2005年中國船舶工業(yè)發(fā)展論壇論文集[C];2005年

6 熊云峰;蔡振雄;;船舶操縱性能的模糊綜合評估[A];福建省科協(xié)第五屆學(xué)術(shù)年會(huì)數(shù)字化制造及其它先進(jìn)制造技術(shù)專題學(xué)術(shù)年會(huì)論文集[C];2005年

7 吳寶山;杜茉;張華;;關(guān)于近年來國內(nèi)船舶操縱性研究的若干評述[A];2013年船舶水動(dòng)力學(xué)學(xué)術(shù)會(huì)議論文集[C];2013年

8 佟寶德;石愛國;楊寶璋;;風(fēng)浪中船舶操縱性問題[A];1995-2009航海技術(shù)論文選集（第1集）[C];2010年

9 馬志堅(jiān);;風(fēng)浪中船舶操縱性問題的探討[A];風(fēng)浪情況下的船舶安全與對策論文集[C];2001年

10 陳偉民;;組合舵在改善船舶操縱性能上的應(yīng)用[A];第十七屆全國水動(dòng)力學(xué)研討會(huì)暨第六屆全國水動(dòng)力學(xué)學(xué)術(shù)會(huì)議文集[C];2003年

相關(guān)博士學(xué)位論文 前5條

1 王欣;基于船舶操縱性的船舶海上航行安全研究[D];大連海事大學(xué);2017年

2 張心光;基于船舶操縱性試驗(yàn)分析的辨識建模研究[D];上海交通大學(xué);2012年

3 廉靜靜;三維數(shù)值水池及船舶操縱性水動(dòng)力數(shù)值計(jì)算[D];大連海事大學(xué);2013年

4 劉小健;不同裝載狀態(tài)下船舶的操縱性能及推定研究[D];上海交通大學(xué);2008年

5 邱云明;受損船操縱性數(shù)值計(jì)算與試驗(yàn)研究及其綜合評價(jià)[D];武漢理工大學(xué);2011年

相關(guān)碩士學(xué)位論文 前10條

1 張建;船舶操縱性預(yù)報(bào)及評價(jià)[D];大連理工大學(xué);2009年

2 梅斌;基于卡爾曼濾波的船舶操縱性能研究[D];大連海事大學(xué);2015年

3 唐元東;基于CFD方法的船舶旋回仿真研究[D];大連海事大學(xué);2015年

4 孔慶文;數(shù)值流場環(huán)境下船舶Z型試驗(yàn)?zāi)M研究[D];大連海事大學(xué);2015年

5 邊曉麗;船舶初始設(shè)計(jì)階段的操縱性預(yù)報(bào)[D];武漢理工大學(xué);2004年

6 劉厚文;船舶操縱性仿真與舵鰭聯(lián)合控制方法研究[D];哈爾濱工程大學(xué);2013年

7 陳敏;內(nèi)河通航船舶操縱性指數(shù)的理論計(jì)算及模擬計(jì)算研究[D];重慶交通大學(xué);2011年

8 陳紀(jì)軍;風(fēng)帆助推船舶操縱性預(yù)報(bào)研究[D];中國艦船研究院;2011年

9 韓東輝;集裝箱船舶操縱性能理論分析與預(yù)報(bào)[D];大連理工大學(xué);2006年

10 陳里;內(nèi)河通航船舶操縱性K、T指數(shù)的模擬計(jì)算研究[D];重慶交通大學(xué);2009年

，

本文編號：2292644