Modeling and Simulation of Dual-podded-propulsion Ship Motions

doi:10.16182/j.issn1004731x.joss.24-1164

Abstract

Abstract:

Aiming at the autonomous navigation control requirements of the Dalian Maritime University's dual-purpose intelligent research and training ship "Xin Hong Zhuan," the design of the motion model for this dual-podded-propulsion ship is carried out. Utilizing an MMG model structure, it calculates the hull's hydrodynamic viscous forces, single/dual-propeller thrust, and hydrodynamic forces acting on the podded propulsion units. Based on data from sea trials and open-water propeller tests, straight-navigation resistance is derived via data fitting, while a method using simulated turning circle tests and PSO algorithms is proposed to determine some hydrodynamic coefficients, refining existing empirical formulas. The model's maneuvering performance metrics are similar to actual ship data, with a MAPE of 7.05%. The 3-DOF MMG model of the "Xin Hong Zhuan" ship, established based on this hybrid mechanism-data-driven approach, has a complete structure and high accuracy.

Key words: i-ship, MMG model, ship motion mathematical model, PSO, podded propulsion units

CLC Number:

TP391.9

Han Bing, Lin Yunhe, Chen Yuhang, Peng Zhouhua. Modeling and Simulation of Dual-podded-propulsion Ship Motions[J]. Journal of System Simulation, 2025, 37(6): 1352-1365.

Figures/Tables 20

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Table 1

Main parameters of the ship

参数	量值	参数	量值
L/m	69.833	$∇$ /m³	1 457.6
B/m	10.900	S/m²	966.7
d/m	3.500	$D P$ /m	1.8
$C b$	0.571 8	$x B$ /m	$- 3.75 % L$

Table 1

Table 2

Empirical formula calculation results

系数	量值	系数	量值	系数	量值
$m$	1.456 3×10⁶	$X r r'$	0.005 99	$w P 0$	0.128 64
$I z z$	4.438 6×10⁸	$Y v'$	-0.282 41	$C f$	0.001 71
$m x$	5.177 0×10⁴	$Y r'$	0.078 73	$Δ C A R$	0.000 39
$m y$	1.248 1×10⁶	$N v'$	-0.100 24	$t R$	0.235 24
$J z z$	3.696 7×10⁸	$N r'$	-0.044 08	$a H$	0.531 33

Table 2

Fig. 5

Fig. 6

Fig. 7

Table 3

Coefficients obtained from optimization

系数	量值	系数	量值
$Y v'$	-0.266 905	$X r r'$	0.000 13
$Y r'$	0.075 435	$K p$	4 552.61
$N v'$	-0.093 683	$K q$	4 495.443
$N r'$	-0.050 67

Table 3

Fig. 8

Table 4

Fig. 9

Table 5

Relative error of speed metrics at various nc

$n c$ /(r/min)	相对误差	$n c$ /(r/min)	相对误差
77.20	0.035 27	248.40	-0.019 55
99.40	-0.000 21	297.20	0.035 11
145.60	-0.063 97	337.35	0.015 60
220.50	-0.044 21	384.55	-0.019 95
226.90	-0.049 51

Table 5

Fig. 10

Table 6

Fig. 11

Fig. 12

Fig. 13

Table 7

Zig-zag performance metrics

仿真	性能指标	仿真值	实际值	相对误差
I	$t i n i t$	10.4 s	10.0 s	0.04
	$O A 1$	6.0°	5.8°	0.034
	$O T 1$	19.8 s	21.0 s	-0.057
	$O A 2$	8.79°	12.90°	-0.319
	$O T 2$	51 s	61 s	-0.164
II	$t i n i t$	14.6 s	17.0 s	-0.141
	$O A 1$	12.73°	10.50°	0.212
	$O T 1$	28 s	28 s	0
	$O A 2$	15.3°	15.3°	0
	$O T 2$	70.6 s	71.0 s	-0.006
III	$t i n i t$	39.6s	41s	-0.034
	$O A 1$	15.20°	12.40°	0.226
	$O T 1$	67.2 s	67 s	0.003
	$O A 2$	15.62°	13.50°	0.157
	$O T 2$	174.8 s	181.0 s	-0.034

Table 7

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指标	滑行距离/ m	滑行时间/s
仿真值	616.19	147.6
实际值	656.66	155.0
相对误差	-0.062	-0.048

仿真	性能指标	仿真值	实际值	相对误差
右旋	进距	214.97 m	232.66 m	-0.076
	横距	132.43 m	119.50 m	0.108
	旋回初径	308.74 m	342.55 m	-0.098 8
	稳定直径	295.78 m	296.71 m	-0.003
	终末u	10.35 kn	10.40 kn	-0.005
	稳态r	2.06 (°)/s	2.03 (°)/s	0.014 8
左旋	进距	217.17 m	249.63 m	-0.130
	横距	133.26 m	101.50 m	0.313
	旋回初径	310.16 m	330.78 m	-0.062
	稳定直径	298.40 m	306.04 m	-0.025 0
	终末u	8.21 kn	8.40 kn	-0.022 6
	稳态r	-1.62 (°)/s	-1.62 (°)/s	0

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