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系統識別號 U0026-1202202000595700
論文名稱(中文) 船舶在不同海洋環境下操航與避碰安全e化輔助系統之研究
論文名稱(英文) The Research of the E-Navigation-Aid System on the Ship Manoeuvring Safety and Collision Avoidance in Various Hydro-meteorological Conditions
校院名稱 成功大學
系所名稱(中) 系統及船舶機電工程學系
系所名稱(英) Department of Systems and Naval Mechatronic Engineering
學年度 108
學期 1
出版年 109
研究生(中文) 蔡坤遠
研究生(英文) Kun-Yuan Tsai
學號 P18031018
學位類別 博士
語文別 英文
論文頁數 104頁
口試委員 指導教授-方銘川
口試委員-方志中
口試委員-李信德
口試委員-周顯光
口試委員-李子宜
口試委員-陳永裕
口試委員-張始偉
中文關鍵字 貨櫃船  多船會遇情況  不同海洋環境  Nomoto二階操縱反應式  實船海試報告 
英文關鍵字 Container ship  Multi-ship encounter  Hydro-meteorological conditions  Sea trial 
學科別分類
中文摘要 本研究利用已發展之靜水中船舶避碰系統,並考量不同海洋環境因子,發展一套船舶動態避碰E化輔助系統。研究工具使用國內自行發展之真時操船模擬機系統(UMS-NCKU),它是由成大、海大及船舶中心共同開發出的真時模擬基,其船舶操縱運動數值模擬則採用日本MMG之船舶波浪中操縱修正模式。為了驗證此操縱性能預測系統,本研究選擇一艘大型貨櫃船進行迴旋試驗模擬,並將其模擬結果與實船海試量測之數據進行驗證,具以確認此模擬結果之可信度。本研究使用野本謙作(Nomoto)二階操縱反應式,探討貨櫃船的迴旋特性,其中船舶的操縱性指數可由數值模擬得到,並藉由牛頓逼近法及相關的迴歸方法,計算出不同模擬狀況下之操縱性指數,建立出其操縱性指數迴歸模型,並建立一套船舶動態避碰E化輔助系統。為了驗證此E化輔助系統的適用性,本研究首先分別進行不同海洋環境下之簡單與複雜多船會遇情況的快時避碰模擬,並將其預測結果與靜水中船舶避碰系統之預測結果進行比較。此外,本研究亦利用此E化輔助系統針對船舶在艉浪、斜浪及橫浪避碰時,對於船舶操縱與避碰的影響,進行了一系列之探討。最後,本研究將此E化輔助系統應用於不同操船者之真時進港操演,以大型貨櫃船進港靠泊高雄港第二港口為例,比較E化輔助系統與人工操航之差異,並針對避碰安全及節能問題進行分析,確認輔助系統之實用及可靠性。透過本研究之E化輔助系統之輔助,能夠使航海人員在面臨避碰決策時快速得到有效的避碰舵角之資訊,使操航更安全且有效率。
英文摘要 Based on the ship collision avoidance steering system in calm water developed by authors, this study plans to develop an ship collision avoidance E-navigation-aid system by considering various hydro-meteorological factors for ships with nonuniform movement. A real-time simulator, UMS-NCKU, which is based on the 6-DOF Manoeuvring Modelling Group (MMG) model, will be constructed and used for the numerical simulation of a large container ship. The UMS-NCKU system is a research version real time simulator developed by the NCKU, NTOU and SOIC in Taiwan. To clarify the validity of the proposed manoeuvrability prediction system, sea trial measured results for the large container ship were compared with the results for the manoeuvrability prediction system in terms of turn trajectory. In this study, a numerical technique based on Nomoto’s second-order model was employed to investigate the turning characteristics of a container ship. The manoeuvring indices were obtained from numerical simulations using the Newton-Raphson method and a regression technique. Both simple and complex multi-ship encounter collision avoidance cases in fast-time simulations were selected to verify the proposed E-navigation-aid system with respect to different hydro-meteorological conditions and the results were then compared with those of the ship collision avoidance steering system in calm water. Moreover, this E-navigation-aid system with respect to the different hydro-meteorological conditions in fast-time simulations were applied to investigate the ship manoeuvring and ship collision avoidance in following waves, oblique waves and beam waves in the simple head-on condition and find the optimal collision avoidance rudder angle, respectively. Finally, the real-time simulations of the container ship entering Kaohsiung second harbor by applying the E-navigation-aid system have been selected in this study. The E-navigation-aid system developed here can quickly determine the rudder angle when the ship makes a collision avoidance manoeuvre, which is helpful for the safety of ship navigation in heavy traffic areas.
論文目次 中文摘要 I
ABSTRACT II
ACKNOWLEDGMENTS IV
TABLE OF CONTENTS VI
LIST OF TABLES VIII
LIST OF FIGURES IX
NOMENCLATURE XIII
1.INTRODUCTION 1
1.1 Preface 1
1.2 Motivation and Purpose 1
1.3 Literature Review 3
1.3.1 Ship Manoeuvring Performance and Collision Avoidance 3
1.3.2 E-Navigation-Aid System 12
1.4 Dissertation Outline 15
2.SHIP MANOEUVRING MATHEMATICAL MODELS 18
2.1 Equations of Motions 18
2.2 Modelling of Hydrodynamic Coefficients 22
2.3 Ocean Environmental Forces 24
2.3.1 Wind Forces 24
2.3.2 Ocean Current Forces 25
2.3.3 Wave Drifting Forces 25
2.4 Sea Trial Validation of C-3 Large Container Ship 27
3.THE MATHEMATICAL MODEL OF E-NAVIGATION-AID SYSTEM 36
3.1 Nomoto Second-Order Model 36
3.2 Constructing the Regression Model of Manoeuvring Indices for C-3 Large Container Ship 40
4.DEVELOPING THE E-NAVIGATION-AID SYSTEM AND VALIDATING WITH COLLISION AVOIDANCE CASES IN VIRTUAL SIMULATION 44
4.1 Construct and Verify the E-Navigation-Aid System with Different Hydro-meteorological Conditions 44
4.2 Wave Heading Effects on Ship Manoeuvring and Ship Collision Avoidance 60
4.2.1 Different Incident Wave Headings in Following Current Condition 60
4.2.2 Different Incident Wave Headings in Oblique Current Condition 61
4.2.3 Different Incident Wave Headings in Side Current Condition 62
5.AN APPLICATION OF THE E-NAVIGATION-AID SYSTEM FOR A LARGE CONTAINER SHIP IN REAL-TIME SIMULATIONS 64
5.1 The Framework of the 6-DOF Manoeuvring Simulation Model 64
5.2 The Arrangement of Kaohsiung Second Harbor 67
5.3 Ship Handling Plan for Ship Manoeuvring 67
5.4 An Application of the E-Navigation-Aid System for a Large Container Ship Entering Kaohsiung Harbor in Different Hydro-meteorological Conditions 79
6.CONCLUSIONS AND FUTURE WORKS 91
REFERENCES 95
APPENDIX A Hydrodynamic Coefficients (Modification) 104
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