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研究生:歐家銓
研究生(外文):Chia-chuan Ou
論文名稱:水下載具與工作母船之偶合運動及動態定位之研究
論文名稱(外文):The Study on the Coupled Motions between the Underwater Vehicle and the Supported Vessel with Dynamic Positioning System
指導教授:方銘川方銘川引用關係楊世安楊世安引用關係
指導教授(外文):Ming-chung FangShih-An Yang
學位類別:碩士
校院名稱:國立成功大學
系所名稱:系統及船舶機電工程學系碩博士班
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2009
畢業學年度:97
語文別:中文
論文頁數:132
中文關鍵詞:偶合運動臍帶電纜水下載具動態定位波浪
外文關鍵詞:wavecoupled motionsumbilical cableunderwater vehicledynamic position system
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工作母船與有繫纜水下載具兩者間之動態模式為高度非線性之偶合運動。本文建構一數值模擬程式,深入探討船舶動態定位系統對受電纜拉力影響之水下載具之偶合影響關係,使用四階 方法與多重射擊法,計算在不同海況下波浪力、洋流力及風力作用下對母船之影響與繫纜運動之相互關係,及電纜對水下載具之影響力量作探討分析,並藉由不規則波45度、90度、180度之波向角來討論對系統運動之模式。並加入船舶動態定位系統,探討母船自動控制後與水下載具之偶合運動狀況。
最後藉由運動軌跡圖、六度運動時程模擬圖與繫纜動態模擬圖分析探討,比較母船受波浪、洋流、風及船舶動態定位系統影響,與水下載具受臍帶電纜張力影響後之偶合運動分析。
結果證明,有加裝動態定位系統之工作母船,可有效維持在固定作業範圍內,使水下載具可承受合理之電纜拉力保持運動姿態。本文應用範圍可適用於操控ROV之工作母船或水面工作載台之定位系統操控之預測。
The dynamic coupled motions between the underwater vehicle and supported vessel are highly nonlinear behaviors. The present paper develops a numerical simulation model to analyze the effect of the umbilical cable of the underwater vehicle on the dynamic position system of the supported vessel. The 4th Runge Kutta method and the multi-step shooting method are applied to solve the two-ends boundary value problem between the supported vessel and the underwater vehicle. Different sea states including the wave force, the current force and the wind force are considered and the reaction tension forces of the umbilical cable are also analyzed. The automatic control is also included in equations of motions to investigate the effectiveness of the dynamic position system with respect to the different wave directions at 45o, 90o, and 180o. From the present results, we find that the numerical model developed here can suitably simulate the dynamic behavior of the supported vessel with the dynamic position system which can be applied to safely operate the control of the underwater remote operated vehicle.
摘要......I
ABSTRACT......II
誌謝......III
目錄......IV
表目錄......VII
圖目錄......VII
符號說明......XV
1 緒論......1
1.1 前言......1
1.2 文獻回顧......3
1.3 論文架構......5
2 水下載具動態數學模式......7
2.1 水下載具座標系統......8
2.1.1 水下載具座標系與大地座標系之關係......8
2.2 水下載具所受到之外力......11
2.3 水下載具推進器造成之力與力矩......12
2.4 水下載具之運動方程式......14
2.5 臍帶電纜所造成之外力......17
2.5.1 臍帶電纜之基本假設......17
2.5.2 臍帶電纜之座標......17
2.5.3 臍帶電纜之方程式......18
3 船舶動態數學模式與動態定位系統介紹......23
3.1 船舶動態定位系統......23
3.1.1 基本假設......23
3.1.2 PD方程式......24
3.2 座標系統......25
3.3 工作母船船體之運動方程式......26
3.4 Froude-Krylov力......29
3.5 繞射力......31
3.6 波浪漂流力......32
3.7 不規則波......33
3.7.1長峰波......33
3.8 洋流力......34
3.9 風力......36
3.10 工作母船推進器之推力及扭矩......36
3.11 工作母船推進器扭矩......37
3.12 數值方法介紹......38
3.13 計算流程介紹......39
4 結果分析與討論......43
4.1 臍帶電纜於一級海況下之船體動態模擬......48
4.1.1 基本假設......48
4.1.2 動態定位系統之波向角180度船體動態模擬......48
4.1.3 動態定位系統之波向角90度船體動態模擬......52
4.1.4 動態定位系統之波向角45度船體動態模擬......54
4.2 臍帶電纜於二級海況下之船體動態模擬......56
4.2.1 基本假設......56
4.2.2 動態定位系統之波向角180度船體動態模擬......56
4.2.3 動態定位系統之波向角90度船體動態模擬......58
4.2.4 動態定位系統之波向角45度船體動態模擬......59
4.3 臍帶電纜於三級海況下之船體動態模擬 60
4.3.1 基本假設......60
4.3.2 動態定位系統之波向角180度船體動態模擬......61
4.3.3 動態定位系統之波向角90度船體動態模擬......62
4.3.4 動態定位系統之波向角45度船體動態模擬......64
5 結論與未來展望......120
參考文獻......123
附錄A.洋流力係數......127
附錄 B.四階 Runge-Kutta數值方法......128
附錄 C. Hook&Jeeves局部搜索方法計算步驟......129
附錄 D.工作母船之TH1、TH2、TH3推進器性能曲線圖 (K-J圖)......131
自述......132
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