本研究之主要目的在於建構一套簡化、快速與實用之操船輔助模式。首先探討船舶的迴旋特性，選擇三艘不同船型的商船，分別使用兩種不同數學模式進行迴旋運動數值模擬並與實船海試量測比較，以確認數學模式之正確性。分別針對三型商船進行不同初始船速與不同舵角之系列定迴旋運動數值模擬，探討不同船型在不同初始船速與不同舵角下之迴旋特性。本研究使用Nomoto所提出的船舶操縱一階線性近似式，探討線性模式中之迴旋性指數(K值)、延遲性指數(T值)與船舶迴旋角速度間之關係，建立K值與T值隨船速與舵角變化的迴歸模型。並以Nomoto一階線性近似式為基礎，建立能預測不同初始船速與不同舵角定迴旋運動下迴旋角速度之數值模型。最後將岩井聰所提出的新航向距離應用於船舶避碰上，配合已建立之K值與T值隨船速與舵角變化的迴歸模型，建立簡化船舶操縱運動數值模型，此簡化操船模式在船舶遭遇固定障礙物時，能夠很快的計算出最適避碰操舵角度建議值，提供操縱者在面臨操縱決策時能有一確切之參考依據，使船舶在操航時更安全且有效率。

This study presents the numerical investigations on turning characteristics for three merchant ships. Two practical tools of ship manoeuvrability prediction have been used with a simulation database system which is based on the MMG model, while the hydrodynamic coefficients are estimated with empirical formula or database from published papers. In order to clarify the validity of the proposed manoeuvrability prediction system, sea trial measured results of three merchant ships provided by USDDC have been compared with the simulation results by the present simulation systems.

Based on the numerical investigation of turning motion characteristics of three merchant ships with varied forward speeds and rudder angles, the first-order linear equation proposed by Nomoto (1957) has been used to investigate the turning characteristics of three merchant ships in this study. The effective time constant, T, and the rudder gain, K, can be obtained from the numerical simulations by using the regression technique with varied forward speeds and rudder angles. This simplified manoeuvring model based on the database of manoeuvring parameters is very effective to find the helm angle for ship collision avoidance at seas. Finally, two simple simulation cases will be used to find the optimal helm angle of the ship and the comparison results are shown with some discussions in this report.

中文摘要 I
ABSTRACT II
誌 謝 III
目 錄 IV
表 目 錄 VI
圖 目 錄 VII
符號說明 XI

第一章 緒　論 1
1-1 前言 1
1-2 研究動機及目的 1
1-3 文獻回顧 2
1-3.1 船舶操縱性能研究 2
1-3.2 船舶操縱模擬系統 5
1-4 論文架構 10
第二章 船舶操縱數學模式介紹 11
2-1 三自由度船舶操縱模擬程式USDDC/MMG-3D之介紹 11
2-1.1 船舶操縱運動數值模型 11
2-1.2 模擬計算流程與操作介面 17
2-2 六自由度船舶操縱模擬系統USM-6D之介紹 19
2-2.1 船舶操縱運動數值模型 19
2-2.2 虛擬實境 26
2-2.3 六自由度船舶操縱模擬系統之整體架構 28
2-3 三型船舶之海試結果驗證 30
2-3.1 18900DWT散裝貨船之海試結果驗證 30
2-3.2 5550TEU大型貨櫃船之海試結果驗證 36
2-3.3 260000DWT大型油輪之海試結果驗證 42
第三章 船舶迴旋特性之探討 49
3-1 Nomoto一階近似理論 49
3-2 K值與T值之迴歸模式建立與驗證 51
3-2.1 18900DWT散裝貨船之迴歸模型建立與驗證 52
3-2.2 5550TEU大型貨櫃船之迴歸模型建立與驗證 67
3-2.3 260000DWT大型油輪之迴歸模型建立與驗證 82
第四章 船舶操縱避碰數值研究 98
4-1 新航向距離之操船應用 98
4-2 簡單之船舶避碰佈置實例 102
4-3 複雜之船舶避碰佈置實例 112
第五章 結論與展望 117
參考文獻 119
附 錄 123
自 述 124

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