船舶

A ship course controller is designed for Norrbin nonlinear ship mathematical model with matching uncertainty. Combining the backstepping algorithm with the nonlinear damping algorithm to design controller, the nonlinear damping is used to cancel the uncertainty. The integral item is introduced in the design to improve the performance of the controller. Now, general ships can only use the electric gyrocompass to measure the course angle, but they have no equipments to measure the angular velocity, so in this article another ship course controller of output feedback is designed for Norrbin nonlinear ship, firstly the angular velocity is estimated by the observer and then the ship course controller is designed.

本文基于含有匹配不确定项的Norrbin非线性船舶数学模型，将backstepping算法和非线性阻尼算法相结合设计船舶航向控制器，利用非线性阻尼来抵消系统的不确定项，同时为了更好地改善系统的性能，在设计过程中引入了积分项；由于目前一般船舶只有电罗经用于测量船舶的航向角，还没有测量船舶航向角速度的设备，因此，针对Norrbin非线性船舶模型设计了一种输出反馈控制器，首先利用观测器对船舶航向角速度进行估计，然后再设计船舶航向控制器。

Since the 1960s,the leading shipbuilding countries begin to study on the ship condition monitoring and trouble analysis, Nobodys engine-room shipping on duty appeared .certainly the condition monitoring and trouble analysts system also meets some question ,such as: only give alarm or show the actual value of the parameter, does not possess the function of analyzing and giving operator the direct suggestion function about the complicated trouble reason , Only monitor the present running conditions, does not possess the function of predicting equipment future and run reliability though trouble analysis technology makes good progress in these yeas, onboard the ship is still rare .aiming to improve the shipping safety, this paper make some research work on the ship engine-room, the main innovation are as follows:Firstly, this paper introduces and analyzes the research work and current situation on the condition monitoring, trouble analysis and safety assessment .especially in the maritime fields .

船舶机舱系统结构复杂，故障源多，征兆参数丰富，故障与征兆之间常常不存在简单的对应关系，而是相互影响，关系错综复杂。60年代以来，世界上先进的造船国家都相继开展了船舶机械状态监控和故障诊断的研究，出现了无人值班机舱船舶，但仍存在不足之处，如：只给报警提示或显示参数的实际值，不具备对复杂故障的原因分析并给操作者以直接的提示或建议功能；只监测当前的运行状况，不具备预测设备未来运行可靠性的功能；尽管近年来设备故障诊断技术得到了很大的发展，但真正能成功应用于实船的尚不多见。本论文以船舶机舱为对象，以提高船舶营运安全性为目标，来研究船舶机舱的安全控制技术，主要内容如下：首先，介绍和分析了状态监测、故障诊断和安全评估的研究内容和现状，尤其是在船舶领域的研究近况。

China Shipbuilding Industry Corporation materials (referred to in the ship from the total), its predecessor is the sixth former State Machine-Building Industry and, later, China Shipbuilding Industry Corporation supplies Bureau, 1988, in accordance with national requirements, China Shipbuilding Industry Corporation and the state of materials Ministry approved the establishment of China Shipbuilding Industry Corporation supplies in 1999, the restructuring of China Shipbuilding Industry Corporation of China State Shipbuilding Corporation and China Shipbuilding Heavy Industry Corporation, China Shipbuilding Group will be two from the total accounting for 50% of the shares of Holding Company .

中国船舶工业物资总公司，其前身是原国家第六机械工业部以及后来的中国船舶工业总公司物资局，1988年，按照国家要求，中国船舶工业总公司和国家物资部批准成立了中国船舶工业物资总公司，1999年中国船舶工业总公司改组为中国船舶工业集团公司和中国船舶重工集团公司，中船物总成为两个集团公司各占50%股份的持股公司。

The research work of this paper is divided into five parts: The first ,according to the work characteristics of ship's auxiliary boiler, this paper is to design applied project in the automatic control system of ship's auxiliary boiler; The second, according to the work request of the cargo winch of alternating three-speed change-pole speed-adjusting, this paper is to determine adopting the method of the PLC control; The third, this paper is to design PLC application in three -phase induction motor control, to give the ladder chart, program and input and output circuit diagram; The fourth, this paper is to research the method of the ship's combined starting screen automatic control with the PLC; The fifth, this paper is to inquire the possibility of apply the PLC in ship's engine room surveillance system; According to the comprehensive analysis of above actual example of ship's auxiliary machinery automatic system with the technique of PLC; not only can use the technique of PLC to replace traditional relay-contactor control technique in ship's auxiliary machinery automatic system, but also can get the conclusion of the former is more dependable and more clever than the latter, the maintenance is more convenient, thus develop a new path for ship automation.

本文研究的工作主要包括五个部分：第一，根据船舶辅锅炉的工作特点，设计PLC在船舶辅锅炉自动控制系统中的应用方案，主要有PLC选型及输入输出点的设计，画出系统控制梯形图并分析工作原理；第二，根据交流三速变极调速起货机的工作要求，确定采用PLC控制的方法，进行控制系统的硬件设计和软件设计，并分析工作原理：第三，设计了PLC在三相异步电动机控制中的应用，给出了控制梯形图、程序及输入、输出接线图；第四，研究了用PLC实现船舶组合起动屏自动控制的方法，进行了系统的电源设计和软件设计，给出系统工作流程图；第五，探讨了船舶机舱监视系统应用PLC的可行性，将继电器报警线路改为用PLC控制报警，给出系统硬件图和软件梯形图，并分析了PLC机的选型、抗干扰和应用PLC的经济效益和社会效益等问题。综合以上船舶辅助机械自动控制系统采用PLC技术的实例分析，可以得出船舶辅助机械自动控制系统不但可以使用PLC技术取代传统的继电器接触器控制技术，而且前者比后者更可靠、更小巧，维护保养更方便的结论，从而为船舶自动化开辟了一条新的路径。无忧毕业设计网 www.5ubs.cn

The article selects the most discussable part to study comparatively.

而船舶优先权是船舶物权中争议最多的领域，故笔者采用比较的方法分析研究，以船舶优先权为主线，从船舶优先权与船舶抵押权和船舶留置权的对比中更深入地对船舶优先权从多角度浅作探讨，并提出自己的若干观点或建议，同时希望能起到抛砖引玉的效果。

Therefore, the study is significant both theoretically and practically. As a result, the studying aim of this paper is to establish a practical and complete system for the prediction of ship maneuvering motion, taking into account of the influence of the environmental factors, such as the wind, wave and current, establish a practical and complete system for the prediction of ship maneuvering motion. In this paper, the OpenGL virtual reality simulation technique is introduced into the field of ship maneuver and control, and using the MMG mathematical model, the three dimensional dynamic simulation system of the ship motion is established and good results are achieved. In the process of the system development, firstly, the maneuvering motion equations for ship in the still water are established, based on the MMG module mathematical model and serial experimental result. After compiling the program, the calculation results are compared with the experimental data, the coherence between them validate the mathematical model.

在系统开发过程中，首先采用MMG分离式数学模型及相关的系列化试验结果，建立单桨单舵海洋运输船舶在静水中的船舶操纵运动方程，并编制计算程序，经与试验结果比较，证实了计算结果的正确性；为了解MMG数学模型中模型参数变化对操纵性指数的影响程度，作者在上述已有程序基础上，对有关模型参数进行偏移修正，探讨了相应参数变化后的操纵性指数，对船舶操纵性指数对模型参数的灵敏度进行了详细的分析与探讨，所得结论与工程实际相吻合，具有实际应用价值，并为进一步提高船舶操纵性预报的精度打下了基础；然后，在已有的船舶静水操纵运动模型基础上，考虑双桨双舵的影响，建立了内河双桨双舵船舶的操纵运动模型；最后，综合考虑风浪流作用力的影响，进行了船舶的操纵运动仿真计算。

While in mission at sea or on inland waters or in port, docks, marines, on ways, gridirons, pontoons, or on the hard or mud or at place of storage ashore, including lifting or hauling out and launching, with leave to sail or navigate with or without pilots, to go on trial trips and to assist and to tow vessels or craft in distress, or as is customary, but it is warranted that the Vessel shall not be towed, except as is customary or when in need of assistance, or undertake towage or salvage services under a contract previously arranged by Owners, Masters, Managers or Charterers

当船舶在海上，或内水，港口，船坞，游艇停泊港，航道，船台，浮码头，或在硬地或泥地，或在岸上的仓库中使用，包括起浮或是拖带及船舶下水，在有领航员或没有领航员的情况下，为进行试航，协助、拖带遇难船舶或航空器，或是依习惯船舶出海航行时。保证该船舶不能被拖带，除非是依习惯或是基于协助的需要，或是为执行船舶所有人、船长、船舶管理人、或是承租人事先安排的合同项下的拖带或救助服务。

1 While in commission at sea or on inland waters or in port, docks, marines, on ways, gridirons, pontoons, or on the hard or mud or at place of storage ashore, including lifting or hauling out and launching, with leave to sail or navigate with or without pilots, to go on trial trips and to assist and to tow vessels or craft in distress, or as is customary, but it is warranted that the Vessel shall not be towed, except as is customary or when in need of assistance, or undertake towage or salvage services under a contract previously arranged by Owners, Masters, Managers or Charterers

当船舶在海上，或内水，港口，船坞，游艇停泊港，航道，船台，浮码头，或在硬地或泥地，或在岸上的仓库中使用，包括起浮或是拖带及船舶下水，在有领航员或没有领航员的情况下，为进行试航，协助、拖带遇难船舶或航空器，或是依习惯船舶出海航行时。保证该船舶不能被拖带，除非是依习惯或是基于协助的需要，或是为执行船舶所有人、船长、船舶管理人、或是承租人事先安排的合同项下的拖带或救助服务。

If the ship comes into collision with another ship as a result of the negligence of the other ship and any act, neglect or default of the Master, mariner, pilot or the servants of the Carrier in the navigation or in the management of the ship, the owners of the goods carried hereunder will indemnify the Carrier against all loss or liability to the other or non-carrying ship or her owners in so far as such loss or liability represents loss of, or damage to, or any claim whatsoever of the owners of said goods, paid or payable by the other or non-carrying ship or her owners to the owners of said goods and set off, recouped or recovered by the other or non-carrying ship or her owners as part of their claim against the carrying ship or the Carrier.

九、如果因其他船舶的过失以及承运人的船长、船员、领航员、或雇员在航行或管船上的任何行为、疏忽或玩忽职守而导致船舶与其他船舶碰撞，所运载货物的货主将保证承运人免于对所有损失或对其他或非载货船舶或其船东承担任何责任，只要此种损失或责任属于上述货主的货物的灭失、损失、或任何权利主张范畴，已由或应由其他或非载货船舶或其船东向上述货主偿付以及作为对运载船舶或承运人的部分索赔而被其他或非载货船舶或其船东抵消、扣除或追偿。

If the ship comes into collision with another ship as a result of the negligence of the other ship and any act, neglect or default of the Master, mariner, pilot or the servants of the Carrier in the navigation or in the management of the ship, the owners of the goods carried hereunder will indemnifythe Carrier against all loss or liability to the other or non-carrying ship or her owners in so far as such loss or liability represents loss of, or damage to, or any claim whatsoever of the owners of said goods, paid or payable by the other or non-carrying ship or her owners to the owners of said goodsand set off, recouped or recovered by the other or non-carrying ship or her owners as part of their claim against the carrying ship or the Carrier.

九、如果因其他船舶的过失以及承运人的船长、船员、领航员、或雇员在航行或管船上的任何行为、疏忽或玩忽职守而导致船舶与其他船舶碰撞，所运载货物的货主将保证承运人免于对所有损失或对其他或非载货船舶或其船东承担任何责任，只要此种损失或责任属于上述货主的货物的灭失、损失、或任何权利主张范畴，已由或应由其他或非载货船舶或其船东向上述货主偿付以及作为对运载船舶或承运人的部分索赔而被其他或非载货船舶或其船东抵消、扣除或追偿。

By the time of its fall, most of the prisoners were writers who had written against the corruptions of the government.

到它被攻陷的时候，里面多数的犯人是写了反对政府贪污文章的作家。

The most obvious variation to ovum morphological character was that the color was changed from light green to sepiaceous in embryonic development, and all the ovums were almost hatched after 96h.

在胚胎发育过程中卵的形态特征最明显的变化是颜色从淡绿到深褐色，卵在发育96h后卵基本全部孵化。