STUDY ON FULL-SCALE IDENTIFICATIONS OF HYDRODYNAMIC PROPERTIES AND MANEUVERING PERFOEMANCE OF A SHIP

在本研究中，利用实时动态GPS的高水平能力，尝试估计作用在船舶上的水动力和力矩，并确定操纵运动的数学模型。本研究的大纲如下。在广岛丸的小海湾上保证了运动学GPS的测量精度。进行了船上3个点和陆地1个点的位置测量，估计了横摆角和跟角的位置。估计了它们的速度和加速度分量。确定了GPS在估计这些位置、速度和加速度方面有足够的能力，最后成功地估计了作用在船舶上的水动力和力矩。然而，海湾内复杂水流的影响是显著的。为了确定合适的数学模型的选择和数学模型参数的确定，进行了槽内试验。开发了用于测量船舶模型水动力特性的圆周运动试验，并对自由运行模型进行了运动测量，确定了船舶模型的水动力特性。这些结果表明，水动力特性的识别是可以实现的，但准确性非常重要。总结目前的研究结果，得出结论

In the present study, taking the high level capability of Real-Time Kinematic GPS, it has been tried to estimate hydrodynamic force and moment acting on a ship and to identify the mathematical model of maneuvering motion. The outline of the present study is as follows.The measuring accuracy of the Kinematic GPS was assured on Hiroshima-Maru in the small bay. The position measurements of 3 points on board and 1 point on land were carried out and the positions of C.G. angles of yaw and heel were estimated. Their velocity and acceleration components were also estimated. Enough capability of the GPS in estimating such positions, velocities and accelerations were confirmed and finally hydrodynamic forces and moment acting on the ship were successfully estimated. However significant effects of complicated current in the bay were observed.Tank tests were carried out for developing the ways to choose a suitable mathematical model and identifying the parameters of mathematical model. Circular motion tests were developed for measuring hydrodynamic properties of a ship model and motion measurements of the free-running model were performed and the hydrodynamic properties were identified. These showed that the identification of hydrodynamic properties is achieved but the accuracy is very important.Summarizing the results of the current study, it is concluded that