本文提出一种应用于模拟器的登陆艇抢滩退滩运动数学模型。该模型基于动量及动量矩定理建立海床作用力模型，基于悬链线理论建立锚链力模型，并结合分离型建模理论，建立了登陆艇抢滩退滩的六自由度运动数学模型。该模型考虑了海床底质、初始速度和海床坡面角的影响，能够更准确地模拟登陆艇在抢滩和退滩过程中的运动轨迹。此外，该模型还扩展了航海模拟器在登陆艇操纵以及船舶搁浅脱浅应急操纵方面的功能，为相关领域的研究和应用提供了有力支持。
This paper proposes a mathematical model for the landing craft beaching and retrating motion applied to simulators. The model establishes a seabed force model based on the theorem of momentum and moment of momentum, and an anchor chain force model based on the catenary theory. Combined with the theory of separate modeling, a six-degree-of-freedom mathematical model for the landing craft beaching and retrating motion is established. This model takes into account the influence of seabed substrate, initial velocity, and seabed slope angle, enabling more accurate simulation of the landing craft's movement trajectory during beaching and retrating. In addition, the model extends the functionality of nautical simulators in terms of landing craft maneuvering and emergency operations for ships running aground or stranded, providing strong support for research and applications in related fields.
2024,46(20): 73-79 收稿日期：2024-1-3
DOI：10.3404/j.issn.1672-7649.2024.20.014
分类号：U661
基金项目：福建省自然科学基金资助项目（2023J01325）
作者简介：张春雨(1999-),男,硕士研究生,研究方向为船舶运动建模及仿真
参考文献：
[1] STERNDORFF M J, PEDERSEN P T. Grounding experimentson soft bottoms[J]. Journal of Marine Science and Technology, 1996, 1(3): 174-181.
[2] 田磊. 船舶刚性小斜坡搁浅过程六自由度建模与仿真[D]. 厦门: 集美大学, 2022.
[3] FAN Tianhui, QIAO Dongsheng, YAN Jun, et al. An improved quasi-static model for mooring induced damping estimation using in the truncation design of mooring system[J]. Ocean Engineering, 2016, 136.
[4] 侯建军, 东昉, 石爱国. 锚泊状态下锚链作用力的计算方法[J]. 大连海事大学学报, 2005, 31(4): 10-14.
HOU J J, DONG F, SHI A G. Calculation method of chain force on ship at anchor[J]. Journal of Dalian Maritime University, 2005, 31(4): 10-14.
[5] 杨鑫. 锚泊系统的快速计算及其应用[D]. 大连: 大连理工大学, 2015.
[6] 张秀凤. 航海模拟器中六自由度船舶运动数学模型的研究[D]. 大连: 大连海事大学, 2009.
[7] 贾兴乐, 杨盐生. 船舶运动数学模型——机理建模与辨识建模[M]. 大连: 大连海事大学出版社, 1999.
[8] PEDERSEN P T. Ship grounding and hull-girder strength[J]. Marine Structures, 1994, 7(1): 1-29.
[9] ARTYSZUK J. Anchor forces in ship manoeuvring mathematical model[J]. Annual of Navigation, 2003(6): 5-18.
