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系統識別號 U0026-2508202000180800
論文名稱(中文) 基於運動響應研發小型無人船遭遇波向判斷系統
論文名稱(英文) The Development of the Encountered Wave Heading Judgment System for Small Unmanned Ship based on the Ship Motion Responses
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 2
出版年 109
研究生(中文) 鄭善謙
研究生(英文) Shan-Chien Cheng
學號 P16084154
學位類別 碩士
語文別 中文
論文頁數 79頁
口試委員 指導教授-方銘川
口試委員-方志中
口試委員-李子宜
中文關鍵字 船體運動  遭遇波向  自航模型  無人船 
英文關鍵字 Ship motion  Encountered wave heading  Self-propelled model  Small unmanned ship 
學科別分類
中文摘要 本研究之目的為開發即時分析船體運動參數方法以用來判斷船隻遭遇波向之系統,透過採用已發展相當良好之二維截片理論方法,計算船體在不同波向及頻率下之運動響應,建立船體運動響應資料庫以反算推估之方式預測船體運動對應之遭遇海況,緣此,設計並建造一艘船型作為耐海性理論分析對象,並開發出一套經濟簡便之船舶海況監控輔助系統,利用已建立的船體運動響應資料庫及波浪引起之船體運動量測值來判斷船舶之遭遇波向,將應用於小型無人船面對惡劣海況下有翻覆危機時,利用上述之系統使船隻改變航向轉為頂浪航行自動操控達到減少翻覆的可能,可供未來無人船在海上執行任務時的航行安全方面的運用。
為驗證判斷遭遇波向方法之可行性,本研究突破以往在拖航水槽之耐海性試驗方法,主要以自航模型方式在零速度及低船速試驗條件下測量船體運動反應振幅運算子(Response Amplitude Operators, RAO)於不同波向及頻率下與耐海性理論計算值之差異,並且以拘束法限制船模自由度輔助驗證船體運動結果,再藉由實驗結果判斷遭遇波向,評估結果之準確率及誤差原因。
英文摘要 The purpose of the present study is to develop a system for real-time analysis of ship motion to judge the wave heading of the ship. By applying the well-developed method of strip theory, this study calculates ship motion responses in different wave headings and wave frequency, and establishes the ship motion response database for back-calculating the corresponding encountered sea state of the ship. To provide the safety for navigation of small unmanned ship on the sea, this study designs and a model for studying seakeeping, and develops an economic system to measure the ship motion, which can be applied on small unmanned ship when facing capsizing crisis. The system can also judge the wave heading and automatically control the rudder to reduce the possibility of capsize in head sea condition.

To verify the feasibility of the method, this study is a breakthrough from previous experiment in towing tank. The experiment of this study mainly uses the self-propelled model to measure the difference between ship motion response amplitude operators and database with respect to different wave headings and wave frequency in the test conditions of zero speed and low speed. Then use the restraint method to restrict the degree of freedom of the ship model to assist in verifying the results of the ship motion.
論文目次 摘要 I
ABSTRACT II
誌謝 VIII
目錄 IX
表目錄 XI
圖目錄 XIII
符號說明 XV
第一章 緒論 1
1-1 研究背景 1
1-2 文獻回顧 1
第二章 數學模式 4
2-1 參考座標系 4
2-2 邊界條件及船體運動方程式 5
2-3 短峰波下船體時程運動模擬 7
第三章 耐海性船模試驗及設計方法 9
3-1船模介紹 9
3-2訊號擷取及處理 13
3-3試驗環境及規劃 15
3-4 船模轉動慣性矩參數測量 18
3-4-1 水面自由橫搖試驗 18
3-4-2 空中自由平擺試驗 19
3-5 儀器校正 21
3-6 求取規則波中船體運動振幅及頻率 22
3-7 求取船體運動振幅實例 23
3-8 建立船體運動響應資料庫 26
3-9判斷遭遇波向方法 27
第四章 結果與討論 28
4-1 實驗結果與理論值比較 28
4-2 頻率誤差討論 31
4-3 求取運動振幅方法比較 35
4-4 試驗架設方法比較 36
4-5判斷遭遇波向結果 38
4-6時程運動模擬結果 40
第五章 結論與未來展望 43
5-1 結論 43
5-2 未來展望 43
參考文獻 45
附錄 47
附錄A 自航法分析圖表 47
附錄B 拘束法分析圖表 65

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19. 廖正民,大波中船舶波浪負荷之探討,國立成功大學造船工程研究所碩士論文,民國八十四年。
20. 廖培元,波浪中船體運動之三維解,國立成功大學造船暨船舶機械工程研究所碩士論文,民國八十七年。
21. 吳俊賢,波浪負荷之三維解,國立成功大學造船暨船舶機械工程研究所碩士論文,民國八十八年。
22. 劉紹偉,船舶運動與波浪時船測試分析,國立臺灣大學造船及海洋工程學研究所碩士論文,民國九十一年。
23. 顏至鴻,以船體動態反應預估遭遇海況之研究,國立成功大學系統及船舶機電工程研究所碩士論文,民國九十八年。
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