中文摘要：

为提高港内船舶操纵数学模型的准确性,给出一种考虑螺旋桨倒车特性的船舶数学模型。该模型吸取了MMG分离建模的思想,考虑了浅水、低速、环境扰动的修正以及船、舵、桨等各部分的相互干扰,引入了较为实用的能够体现右旋单桨倒车特性的螺旋桨推力模型,并利用三次样条插值算法对在小漂角常速域与大漂角低速域之间的过渡速域的流体力进行了计算。最后,以某液化气船为例进行了旋回、紧急停船仿真,以及基于非线性反馈算法的停车航向跟踪控制仿真。经与实船海试数据比较,仿真结果能够较为真实地反映实船运动规律,既验证了模型的有效性,又实现了无螺旋桨推力条件下的航向跟踪控制。论文可为提高航海模拟器精度、预报船舶港内的操纵性以及设计较为准确的港内船舶操纵控制器提供一定的理论和工程基础。

英文摘要：

In order to improve the accuracy of the mathematical model of ship maneuvering in harbor, reversing characteristics of the propeller is considered. In this model, effects of shallow water, low speed, and environmental perturbation are introduced, and mutual interferences between various parts of the ship, including the hull, rudder and propeller are investigated. A cubic spline interpolation algorithm is applied to calculate the fluid force on the ship in high velocity domain （small drift angle） and low velocity domain （big drift angle）. Simulation of the turning circle, emergency stopping, and course tracking control for a liquefied gas tanker is performed under the engine stopping condition, which verifies the validity of this model through a comparison with the ship＇s trial data and provides theoretical and engineering foundation for the design of ship steering controller and accurate prediction of ship maneuvering in the harbor.