Non-intrusive polynomial chaos for efficient uncertainty analysis in parametric roll simulations

Monte Carlo analyses are generally considered the standard for uncertainty analysis. While accurate, these analyses can be expensive computationally. Recently, polynomial chaos has been proposed as an alternative approach to the estimation of uncertainty distributions (Hosder et al. A non-intrusive polynomial chaos method for uncertainty propagation in CFD simulations. In: 44th AIAA aerospace sciences meeting and exhibit, Reno, Nevada, 2006; Wu et al. Uncertainty analysis for parametric roll using non-intrusive polynomial chaos. In: Proceedings of the 12th international ship stability workshop, Washington, DC, USA, 2011). This approach works by representing the function as a series of orthogonal polynomials; the weights for which can be calculated via several methods. Previous studies have demonstrated the usefulness of this technique for comparatively simple systems such as parametric roll modeled by the Mathieu equation with normally distributed parameter values (Wu et al. Uncertainty analysis for parametric roll using non-intrusive polynomial chaos. In: Proceedings of the 12th international ship stability workshop, Washington, DC, USA, 2011). In the present work, a polynomial chaos method is applied to a nonlinear computational ship dynamics model with normally distributed input parameters. Test cases were selected where parametric roll was expected to potentially occur. The resulting probability distributions are compared to the results of a Monte Carlo analysis. In general, these results demonstrate good agreement between Monte Carlo simulation and polynomial chaos in the absence of capsize with significant computation gains found with polynomial chaos. Overall, we conclude that polynomial chaos is an effective tool for reducing simulation time costs when studying parametric roll, and potentially other ship dynamics phenomena, particularly in the absence of capsize-like bifurcations.     

Influence of initial heeling angle on ship roll motion response北大核心CSCD

[目的]系统地研究初始横倾角对随机横浪下船舶横摇运动响应的影响。[方法]以路径积分法为基础,通过数值求解控制横摇运动微分方程概率属性的Fokker-Planck方程,得到横摇运动响应的概率分布。[结果]结果显示,初始横倾角对船舶横摇运动响应谱的影响有限,但对横摇角概率分布以及横摇运动响应极值分布的影响十分明显,且会造成船舶安全性的显著恶化。[结论]路径积分法可作为研究随机海浪下船舶横摇运动特性的有效数值方法。     

Prediction of the maneuverability of a large container ship with twin propellers and twin rudders

The maneuvering characteristics of a large container ship with twin propellers and twin rudders were investigated using the horizontal planar motion mechanism (HPMM) test and computer simulation. A mathematical model for maneuvering motion with four degrees of freedom (DOF) for twin-propeller and twin-rudder systems was developed and included the effects of roll motion. To obtain the roll-coupling hydrodynamic coefficients of a container ship, a four-DOF HPMM system having a roll motion mechanism and a roll moment measurement system was used. At the full load condition, HPMM tests were carried out for two different 12 000-TEU container ship models, one with twin propellers and the other with a single propeller. Using the hydrodynamic coefficients obtained from the tests, computer simulations were carried out. Simulation results for the container ship with twin propellers and twin rudders were compared with the results for the container ship with a single propeller and single rudder.     

粘性流中船舶横摇阻尼计算

船舶横摇阻尼的确定是准确预报船舶在波浪中运动的关键之一.本文以粘性流理论为基础,以连续性方程和N-S方程为控制方程.对Series 60船型的二维横剖面绕流进行了数值模拟,计算分析了不同工况下船体剖面的横摇阻尼系数,并与相关实验结果进行了比较.对比和研究表明,本文的方法能给出船舶横摇运动诱导的涡,船体的横摇阻尼等,可进一步拓展应用于船舶在波浪中运动的分析预报和优化设计等方面.     

基于三维解析法的船舶碰撞外部动力学研究

目前国际上船舶碰撞外部动力学的解析法研究均局限于船体碰撞运动的二维假设,忽略了可能存在的大幅横摇。依据文献[1]给出的二维船舶碰撞数学模型,建立了包括横移、纵移、首摇和横摇在内的三维船舶碰撞数学模型,并编制程序对文献[2]中的算例进行计算,计算结果表明船舶横摇运动在大多数船舶碰撞情况下是不可忽略的。     

Nonlinear dynamics of ship capsizing due to broaching in following and quartering seas

To provide a theoretical methodology to predict the critical condition for capsizing due to broaching, a nonlinear dynamical system approach was applied to the surge–sway–yaw–roll motion of a ship running with an autopilot in following and quartering seas. Fixed points of a mathematical model for the ship motion and unstable manifolds of the fixed point near the wave crest were systematically investigated. As a result, the existence of heteroclinic bifurcation was identified. With numerical experiments, it was confirmed that this heteroclinic bifurcation reasonably well represents the critical condition for capsizing due to broaching. Thus the nonlinear dynamical approach can be substituted for tedious numerical experiments. Received for publication on Nov. 20, 1998; accepted on March 16, 1999     

应用支持向量机的船舶操纵运动响应模型辨识

建模是评估船舶操纵性和可控性的重要前提.基于自由自航船模试验的系统辨识方法是求取船舶操纵运动数学模型中的水动力系数的有效手段之一.文中提出了一种使用支持向量回归估计的船舶操纵运动响应模型辨识方法,该方法通过训练自由自航试验数据样本得到参数回归模型.辨识和仿真结果验证了文中所提出的方法的有效性.     

船舶大舵角转向时艏摇与横摇的耦合仿真研究

摘要：为进一步研究船舶在大幅度转向时艏摇和横摇的耦合机制,在非线性船舶运动数学模型的基础上,进行了不同情形下的操纵仿真试验。试验结果显示在大舵角转向时,船舶的艏摇和横摇运动存在较强的耦合作用,横摇幅度和艏摇幅度存在正相关性。指出大幅度的横摇使艏摇出现相位滞后和偏离基准航向的现象;在横摇过大的情况下,大幅度动舵和加速操纵将导致稳性迅速消失和航向打横。     

损管训练模拟系统在舰船中的应用研究

基于舰船六自由度运动模型,提出Vegar环境中舰船运动模型的数学表示及其C＋＋语言描述方法,构建基于Vegar[1]的交互式舰船六自由度三维实景仿真系统,解算破损状态下舰船的参数,拟合破损舰船静稳度曲线,反映舰船在破损状态下的浮性与稳性特征,提供多样化的损管决策方式,训练指挥员对破损的处置能力,评估损管决策方案的科学程度,提高指挥员组织指挥舰船损管的水平。     

基于改进型消灭曲线法的横摇阻尼估算

自由衰减试验仍是目前最为有效且常用的估算横摇阻尼系数的方法.横摇阻尼系数的估算精度对于船舶横摇运动的预报起着至关重要的作用.通常采用所谓的消灭曲线法来分析自由横摇衰减数据.该方法的一个不足之处在于其推导是基于忽略了非线性恢复力项的自由横摇运动方程.另一方面,考虑更多非线性成分的能量法能够纳入该因素影响但在实施过程中较为复杂.文中提出了一种改进型的消灭曲线法,能够纳入船体非线性恢复力项的影响.所提出的方法形式简单且相比能量法更易于实施.数值试验证明了改进型消灭曲线法的正确性,并展现了其相对传统消灭曲线法所具有的优势.     

单点系泊船舶非线性动力学特性的试验研究

对潮流作用下单点系泊船舶的静态分岔特性和动态分岔特性进行了试验研究.通过试验确定了船舶的平衡系泊点及其Liapunov运动稳定性.以来流速度和系缆长度为分岔控制参数,研究了船舶系泊运动的静态分岔与Hopf分岔特性.对系统的动力学行为进行了定性分类,据此在参数空间中给出了局部分岔集.它将参数平面划分为四个不同的区域,每个区域中船舶的运动模式均不相同,但同一区域内系统的动力学行为是一致的.研究表明,单点系泊船舶具有复杂的动力学响应,试验中观察到吸引子的共存与跳跃和Hopf分岔现象.局部分岔集的确定为系泊系统设计参数的选择提供了依据.     

Prediction of Stabilization of Ship in Random Wave

In this paper we show thc method of energy in part with which we can get the model of random wave,and predict theroll motion of unstabilized ship and stabilized ship using the wave model.The control parameters of fin stabilizer are determinedaccording to the performance index. The simulation of the system is also made in this paper. The comparison of the simulationwith real ship indicates that the method can be used in the prediction of roll motion of a stabilized ship in random wave.     

滑行艇纵向运动响应与静水航行数值模拟分析

运用CFD软件FLUENT,采用动网格技术,通过编制的运动预报程序求解耦合运动方程,比较滑行艇排水航行、过渡航行、滑行三种不同状态下航行姿态及周围流场情况,分析了滑行艇响应运动过程中重心位置及纵摇角度的变化,并展开对应工况下滑行艇以固定姿态不涉及动网格技术的静水直航数值模拟,将计算结果与运动响应结果比较分析.得出了滑行艇由排水航行状态过渡到滑行状态底部动压力变化.为关于滑行艇水动力性能的研究提供了可靠的计算研究模型.     

波浪中破损船舶的运动响应研究

波浪中破损船舶的运动会同时受到波浪激励和进出水的影响,而船体运动也会影响进出水过程,二者的相互影响机理十分复杂.本文重点研究波浪中破舱进出水对船舶运动响应的影响,文中首先基于势流理论建立了考虑破舱进出水的4DOF(横荡-垂荡-横摇-纵摇)相互耦合时域预报方法,在计算中假设舱内的液面水平,利用修正的伯努利方程模拟破舱进/出水,利用Ikeda's经验公式修正阻尼系数.然后以一艘ITTC破损稳性标模为例,研究了波浪中考虑破舱进出水的数学模型以及破舱进出水对运动响应的影响,并研究了不同自由度、破舱口位置对运动响应的影响.研究表明,本文基于势流理论建立的时域预报方法可以定量的预报破损船舶的运动响应.     

基于RANS和非线性动力学方法的海洋平台供应船水舱减摇预报

在探讨带平面被动式减摇水舱的海洋平台工作船在横浪中的减摇问题上,采用RANS方法进行船舶和水舱的强迫运动模拟,通过数值处理得到船舶和水舱的水动力系数。假设在共振频率下船舶和水舱的横摇运动在达到稳态后可以解耦,由非线性动力学的方法求解船舶横摇运动,并在波浪中进行系列模型试验以研究减摇特性。海洋平台工作船具有多工况的特点,不同载况对应不同船舶固有周期,实际航行中对减摇水舱的使用就是通过改变水舱水深使水舱的周期等于船舶固有周期,而通过上述方法的快速计算,选择合适的水深和阻尼隔板可以达到理想的减摇效果。结论表明该方法可以预报不同方案下的船舶横摇运动,该思路在船舶的减摇水舱设计阶段可以提供参考价值,并且在实船航行中可以提供水深加载指导以适应复杂的多工况航行。文中研究结果被运用于一艘实船航行时水舱加水策略中。     

船舶碰撞后运动趋势的模拟计算

本文首先应用明诺斯基(Minorsky)一维碰撞理论,扩展为多自由度模型,描述船舶在碰撞瞬间的能量和运动的转化。以确定两船碰撞后运动的初始条件。船舶碰撞结束之后,开始进入惯性运动阶段,再以日本MMG小组提出的船舶操纵性数学模型为基础,根据基本物理定理,建立两船在互为约束条件下的运动数学模型,计算碰撞后两船的运动过程。最后,在可能出现的各种碰撞格局下进行模拟试验,确定比较符合实际的碰撞前的初始运动状态,为事故分析提供依据。研究表明,用此种模拟计算方法,能较好地计算出船舶碰撞后的运动过程,是一种分析碰撞事故的有效方法。     

基于随机Melnikov方法的甲板上浪船舶混沌运动研究

应用随机Melnikov方法和庞加莱截面研究甲板上浪时船舶的混沌运动。考虑甲板上浪对船舶静稳性的影响,建立随机横浪中船舶横摇运动方程。由随机Melnikov过程结合均方准则确定船舶产生混沌运动的参数域,计算不同参数域中船舶横摇响应的庞加莱截面和时间历程。结果表明,增加船舶阻尼将抑制混沌运动的发生。甲板上浪时船舶横摇响应的庞加莱截面上有两个吸引域,船舶运动过程有两个横摇中心。在非混沌参数域中,船舶只围绕其中的一个横摇中心运动;在混沌参数域中,发生由一个横摇中心到另一个横摇中心的随机跳跃。     

Circular motion tests and uncertainty analysis for ship maneuverability

Circular motion test data and uncertainty analysis results of investigations of the hydrodynamic characteristics of ship maneuvering are presented. The model ships used were a container ship and two tankers, and the measured items were the surge and sway forces, yaw moment, propeller thrust, rudder normal and tangential forces, pitch and roll angles, and heave. The test parameters were the oblique angle and yaw rate for the conditions of a hull with a rudder and propeller in which the rudder angle was set to zero and the propeller speed was set to the model self-propulsion conditions. Carriage data showing the accuracy of the towing conditions in the circular motion test are also presented. It was confirmed that the uncertainties in the hydrodynamic forces such as the surge and sway forces, yaw moment, rudder tangential and normal forces, and propeller thrust were fairly small. The reported uncertainty analysis results of the circular motion test data may be beneficial in validating data quality and in discussing reliability for simulation of ship maneuvering performance.     

Mathematical modelling of response amplitude operator for roll motion of a floating body: Analysis in frequency domain with numerical validation

This paper investigates mathematical modelling of response amplitude operator （RAO） or transfer function using the frequency-based analysis for uncoupled roll motion of a floating body under the influence of small amplitude regular waves. The hydrodynamic coefficients are computed using strip theory formulation by integrating over the length of the floating body. Considering sinusoidal wave with frequency （ω ） varying between 0.3 rad/s and 1.2 rad/s acts on beam to the floating body for zero forward speed, analytical expressions of RAO in frequency domain is obtained. Using the normalization procedure and frequency based analysis, group based classifications are obtained and accordingly governing equations are formulated for each case. After applying the fourth order Runge-Kutta method numerical solutions are obtained and relative importance of the hydrodynamic coefficients is analyzed. To illustrate the roll amplitude effects numerical experiments have been carried out for a Panamax container ship under the action of sinusoidal wave with a fixed wave height. The effect of viscous damping on RAO is evaluated and the model is validated using convergence, consistency and stability analysis. This modelling approach could be useful to model floating body dynamics for higher degrees of freedom and to validate the result.     

船舶非线性横摇运动数值模拟研究

非线性大角横摇运动是危害船舶安全的重要因素,也是船舶水动力学关注的热点及难点问题。文章采用CFD方法,对某型驱逐舰船模在不同波长规则波中横浪航行时的横摇运动进行了数值模拟。通过与水池实验比对,数值仿真得到的稳定横摇幅值与实验值的误差在10%左右。同时,数值模拟证实了非线性横摇的两种典型特征—“多值”及“跳跃”现象。数值模拟结果表明,CFD方法可作为研究船舶非线性横摇运动的有效手段。