Energy Optimization of the Fin/Rudder Roll Stabilization System Based on the Multi-objective Genetic Algorithm (MOGA)

Energy optimization is one of the key problems for ship roll reduction systems in the last decade. According to the nonlinear characteristics of ship motion, the four degrees of freedom nonlinear model of Fin/Rudder roll stabilization can be established. This paper analyzes energy consumption caused by overcoming the resistance and the yaw, which is added to the fin/rudder roll stabilization system as new performance index. In order to achieve the purpose of the roll reduction, ship course keeping and energy optimization, the self-tuning PID controller based on the multi-objective genetic algorithm(MOGA) method is used to optimize performance index. In addition, random weight coefficient is adopted to build a multi-objective genetic algorithm optimization model. The objective function is improved so that the objective function can be normalized to a constant level. Simulation results showed that the control method based on MOGA, compared with the traditional control method, not only improves the efficiency of roll stabilization and yaw control precision, but also optimizes the energy of the system. The proposed methodology can get a better performance at different sea states.     

船舶航向模糊滑模控制器的设计与仿真

In considering the characteristic of a rudder,the maneuvers of a ship were described by an unmatched uncertain nonlinear mathematic model with unknown virtual control coefficient and parameter uncertainties.In order to solve the uncertainties in the ship heading control,specifically the controller singular and paramount re-estimation problem,a new multiple sliding-mode adaptive fuzzy control algorithm was proposed by combining Nussbaum gain technology,the approximation property of fuzzy logic systems,and a multiple sliding-mode control algorithm.Based on the Lyapunov function,it was proven in theory that the controller made all signals in the nonlinear system of unmatched uncertain ship motion uniformly bounded,with tracking errors converging to zero.Simulation results show that the demonstrated controller design can track a desired course fast and accurately.It also exhibits strong robustness peculiarity in relation to system uncertainties and disturbances.     

Dynamic interaction of parallel moving ships in close proximity

Nowadays,there are many studies conducted in the field of marine hydrodynamics which focus on two vessels traveling and floating in sufficiently close proximity to experience significant interactions.The hydrodynamic behavior of parallel moving ships in waves is an interesting and important topic of late.A numerical investigation has been carried out for the prediction of wave exciting forces and motion responses of parallel moving ships in regular waves.The numerical solution was based on 3D distribution technique and using the linear wave theory to determine the exciting forces and ship＇s motion.The speed effects have been considered in the Green function for more realistic results.The numerical computations of wave exciting forces and motion responses were carried out for a Mariner and Series 60 for the purpose of discovering different Froude numbers and different separation distances in head sea conditions.Based on the numerical computations,it was revealed that the sway,roll and yaw have a significant effect due to hydrodynamic interaction.     

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.     

Robust autopilot with wave filter for ship steering

Research was done to overcome traditional problems associated with automatic steering systems of a ship in a seaway. A ship＇ s dynamic model with wave disturbances was built and a wave filter was designed by means of an extended states observer （ESO）. The model estimated the low frequency motion component from a heading measurement corrupted by colorednoise, so back-and-forth steering caused by high frequency wave disturbances was avoided. At the same time, a robust autopilot system, designed by variable structure control theory, was presented. Simulation results achieved in dangerous sea status show that the wave filter works very well and the autopilot has strong robustness to environmental disturbances and model perturbation, and more importantly, the frequency of rudder adjustments is reduced noticeably.     

Application of H∞ control in rudder/flap vector robust control of a ship＇s course

Given the uncertainty of parameters and the random nature of disturbances that effect a ships course, a robust course controller should be designed on the basis of rudder/flap vector control. This paper analyzes system uncertainty, and the choice of weighting functions is also discussed. When sea waves operate on a ship, the energy-concentrating frequency varies with the angle of encounter. For different angles of encounter, different weighting functions are designed. For the pole of a nominal model existing in an imaginary axis, the bilinear-transform method is used. The ＂2-Riccati＂ equation is adopted to solve the H∞ controller. A system simulation is given, and the results show that, compared with a PID controller, this system has higher course precision and more robust performance. This research has significant engineering value.     

高速滑行艇在规则波中运动的RANSE数值模拟(英文)

This paper presents a study on the numerical simulation of planing crafts sailing in regular waves. This allows an accurate estimate of the seas keeping performance of the high speed craft. The simulation set in six-degree of freedom motions is based on the Reynolds averaged Navier Stokes equations volume of fluid (RANSE VOF) solver. The trimming mesh technique and integral dynamic mesh method are used to guarantee the good accuracy of the hydrodynamic force and high efficiency of the numerical simulation. Incident head waves, oblique waves and beam waves are generated in the simulation with three different velocities (Fn =1.0, 1.5, 2.0). The motions and sea keeping performance of the planing craft with waves coming from different directions are indicated in the flow solver. The ship designer placed an emphasis on the effects of waves on sailing amplitude and pressure distribution of planing craft in the configuration of building high speed crafts.     

应用零航速减摇鳍的海洋机器人近水面时的横摇减摇控制(英文)

A zero-speed fin stabilizer system was developed for rolling control of a marine robot.As a robot steering device near the sea surface with low speed,it will have rolling motion due to disturbance from waves.Based on the working principle of a zero-speed fin stabilizer and a marine robot’s dynamic properties,a roll damping controller was designed with a master-slave structure.It was composed of a sliding mode controller and an output tracking controller that calculates the desired righting moment and drives the zero-speed fin stabilizer.The methods of input-output linearization and model reference were used to realize the tracking control.Simulations were presented to demonstrate the validity of the control law proposed.     

斜浪下FLNG与LNGC旁靠时相对运动的时域分析（英文）

Strong hydrodynamic interactions during the side-by-side offloading operation between floating liquefied natural gas(FLNG) and liquefied natural gas carrier(LNGC) can induce high risks of collision. The weather vane effect of a single-point mooring system normally results in the satisfactory hydrodynamic performance of the side-by-side configuration in head seas. Nevertheless, the changes in wave directions in real sea conditions can significantly influence the relative motions. This article studies the relative motions of the side-by-side system by using the theoretical analysis method and the numerical calculation method. Based on the three-dimensional potential theory modified by artificial damping-lid method, the frequency-domain hydrodynamic coefficients can be improved to calculate the retardation functions for the multi-body problem. An in-house code is then developed to perform the time-domain simulation of two vessels, through which the relative motions are subsequently obtained. A range of oblique waves are chosen for the extensive calculation of relative motions between the two vessels, which are further analyzed in terms of the phase shift of motion responses induced by specific resonant wave patterns. Investigation results show that wave directions have a significant influence on the relative sway, roll, and yaw motions. Under the circumstance that the absolute phase shift between the roll motions of two vessels approaches 180°, stronger relative motions are induced when LNGC is on the weather side.Moreover, the gap water resonances at high frequencies tend to cause the dangerous opposed oscillation of two vessels in the sway and yaw modes, whereas FLNG reduces the gap water resonances and relative motions when located on the weather side.     

Application of H~∞ control in rudder/flap vector robust control of a ship's course

Given the uncertainty of parameters and the random nature of disturbances that effect a ships course, a robust course controller should be designed on the basis of rudder/flap vector control. This paper analyzes system uncertainty, and the choice of weighting functions is also discussed. When sea waves operate on a ship, the energy-concentrating frequency varies with the angle of encounter. For different angles of encounter, different weighting functions are designed. For the pole of a nominal model existing in an imaginary axis, the bilinear-transform method is used. The "2-Riccati" equation is adopted to solve the H∞ controller. A system simulation is given, and the results show that, compared with a PID controller, this system has higher course precision and more robust performance. This research has significant engineering value.     

Global robust and adaptive output feedback dynamic positioning of surface ships

A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship’s parameters were not required to be known. An adaptive observer was first designed to estimate the ship’s velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov’s direct method to force the ship’s position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.     

CFD技术在船舶与海洋工程复杂粘性流动中的应用进展（英文）

Complex flow around floating structures is a highly nonlinear problem, and it is a typical feature in ship and ocean engineering.Traditional experimental methods and potential flow theory have limitations in predicting complex viscous flows. With the improvement of high-performance computing and the development of numerical techniques, computational fluid dynamics(CFD) has become increasingly powerful in predicting the complex viscous flow around floating structures. This paper reviews the recent progress in CFD techniques for numerical solutions of typical complex viscous flows in ship and ocean engineering.Applications to free-surface flows, breaking bow waves of high-speed ship, ship hull–propeller–rudder interaction, vortexinduced vibration of risers, vortex-induced motions of deep-draft platforms, and floating offshore wind turbines are discussed.Typical techniques, including volume of fluid for sharp interface, dynamic overset grid, detached eddy simulation, and fluid–structure coupling, are reviewed along with their applications. Some novel techniques, such as high-efficiency Cartesian grid method and GPU acceleration technique, are discussed in the last part as the future perspective for further enhancement of accuracy and efficiency for CFD simulations of complex flow in ship and ocean engineering.     

Application of the Grey topological method to predict the effects of ship pitching

Ship motion,with six degrees of freedom,is a complex stochastic process.Sea wind and waves are the primary influencing factors.Prediction of ship motion is significant for ship navigation.To eliminate errors,a path prediction model incorporating ship pitching was developed using the Gray topological method,after analyzing ship pitching motions.With the help of simple introduction to Gray system theory,we selected a group of threshold values.Based on an analysis of ship pitch angle sequences over 40 second intervals,a Grey metabolism GM(1,1) model was established according to the time-series which every threshold corresponded to.Forecasting future ship motion with the GM(1,1) model allowed drawing of the forecast curve with effective forecasting points.The precision of the test results show that the model is accurate,and the forecast results are reliable.     

带不确定动态的欠驱动水面船舶鲁棒自适应路径跟踪控制(英文)

A robust adaptive control strategy was developed to force an underactuated surface vessel to follow a reference path,despite the presence of uncertain parameters and unstructured uncertainties including exogenous disturbances and measurement noise.The reference path can be a curve or a straight line.The proposed controller was designed by using Lyapunov’s direct method and sliding mode control and backstepping techniques.Because the sway axis of the vessel was not directly actuated,two sliding surfaces were introduced,the first one in terms of the surge motion tracking errors and the second one for the yaw motion tracking errors.The adaptive control law guaranteed the uniform ultimate boundedness of the tracking errors.Numerical simulation results were provided to validate the effectiveness of the proposed controller for path following of underactuated surface vessels.     

深水起重铺管船横摇运动性能分析(英文)

For a large floating vessel in waves,radiation damping is not an accurate prediction of the degree of roll unlike other degrees of freedom motion.Therefore,to get the knowledge of roll motion performance of deepwater pipelay crane vessels and to keep the vessel working safety,the paper presents the relationship between a series of dimensionless roll damping coefficients and the roll response amplitude operator(RAO).By using two kinds of empirical data,the roll damping is estimated in the calculation flow.After getting the roll damping coefficient from the model test,a prediction of roll motion in regular waves is evaluated.According to the wave condition in the working region,short term statistics of roll motion are presented under different wave parameters.Moreover,the relationship between the maximal roll response level to peak spectral wave period and the roll damping coefficient is investigated.Results may provide some reference to design and improve this kind of vessel.     

Application of the Grey topological method to predict the effects of ship pitching

Ship motion, with six degrees of freedom, is a complex stochastic process. Sea wind and waves are the primary influencing factors. Prediction of ship motion is significant for ship navigation. To eliminate errors, a path prediction model incorporating ship pitching was developed using the Gray topological method, after analyzing ship pitching motions. With the help of simple introduction to Gray system theory, we selected a group of threshold values. Based on an analysis of ship pitch angle sequences over 40 second intervals, a Grey metabolism GM（1,1） model was established according to the time-series which every threshold corresponded to. Forecasting future ship motion with the GM （1,1） model allowed drawing of the forecast curve with effective forecasting points. The precision of the test results show that the model is accurate, and the forecast results are reliable.     

带吊舱水下机器人运动建模与仿真(英文)

To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle’s (AUV) motion controller, a six-degree of freedom (6-DOF) dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV’s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.     

Integrated Control System for First Tidal Flow Electricity Generating Ship of China

This paper introduces the composition, control method and testing results of the integrated control system for the firsttidal flow electricity generating (TFEG) ship of China. The control method, control algorithm and the specific circuits for thehydraulies system are also introduced. Our research works are emphasized on the control algorithm of stabilizing frequency andsome special problems of the controller.The related protection measures for hydraulic system and TFEG system have been tak-     

The choice of speed and clearance for RAS on 3D method

In this paper, a 3D source distribution technique is used to calculate the coupled motions between two ships which advance in the wave with the same speed. The numerical results of coupled motions for a frigate and a supply ship have a good agreement with the experimental results. Based on the 3D coupled motions of two ships, a spectral analysis is employed to clearly observe the effect of speed, clearance and wave heading on the significant relative motion amplitude (SRMA) of two ships.The method presented in this paper will be helpful to select suitable clearance, speed and wave heading for underway replenishment at sea(RAS).     

迎浪规则波中波浪增阻和船体垂向运动的数值预报(英文)

The numerical prediction of added resistance and vertical ship motions of one ITTC (International Towing Tank Conference) S-175 containership in regular head waves by our own in-house unsteady RANS solver naoe-FOAM-SL JTU is presented in this paper. The development of the solver naoe-FOAM-SJTU is based on the open source CFD tool, OpenFOAM. Numerical analysis is focused on the added resistance and vertical ship motions (heave and pitch motions) with four very different wavelengths (0.8Lpp≤λ≤1.5Lpp) in regular head waves. Once the wavelength is near the length of the ship model, the responses of the resistance and ship motions become strongly influenced by nonlinear factors, as a result difficulties within simulations occur. In the paper, a comparison of the experimental results and the nonlinear strip theory was reviewed and based on the findings, the RANS simulations by the solver naoe-FOAM-SJTU were considered competent with the prediction of added resistance and vertical ship motions in a wide range of wave lengths.