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SUICheng-cheng YANGYong-tian JIARong-zhen 《船舶与海洋工程学报》2004,3(1):52-56
Real-time modeling and simulation of flight system are the key parts of simulator. After describing the architecture of simulator for a newer fighter, author presents the composition of flight system and its mathematic models. In this paper, aircraft is regarded as an elastic flight body. And a new integrated algorithm which can remedy the shortcoming of Euler method and four-element method is used to calculate the Eulerian angles of aircraft. Finally, the software implementation of the flight system is given in the paper. 相似文献
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邱中梁 《船舶与海洋工程学报》2008,7(4):255-260
Variable ballast systems are necessary for manned submersibles to adjust their buoyancy. In this paper, the design of a variable ballast system for a manned submersible is described. The variable ballast system uses a super high pressure hydraulic seawater system. A super high pressure seawater pump and a deep-sea brushless DC motor are used to pump seawater into or from the variable ballast tank, increasing or decreasing the weight of the manned submersible. A magnetostrictive linear displacement transducer can detect the seawater level in the variable ballast tank. Some seawater valves are used to control pumping direction and control on-off states. The design and testing procedure for the valves is described. Finally, the future development of variable ballast systems and seawater hydraulic systems is projected. 相似文献
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《船舶与海洋工程学报》2008,(4)
Variable ballast systems are necessary for manned submersibles to adjust their buoyancy.In this paper,the design of a variable ballast system for a manned submersible is described.The variable ballast system uses a super high pressure hydraulic seawater system.A super high pressure seawater pump and a deep-sea brushless DC motor are used to pump seawater into or from the variable ballast tank,increasing or decreasing the weight of the manned submersible.A magnetostrictive linear displacement transducer can detect the seawater level in the variable ballast tank.Some seawater valves are used to control pumping direction and control on-off states.The design and testing procedure for the valves is described.Finally,the future development of variable ballast systems and seawater hydraulic systems is projected. 相似文献
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3D Track-keeping Method for Autonomous Underwater Vehicle 总被引:1,自引:0,他引:1
WANG Wei Bian Xin-Qian Chang Zong-HuCollege of Power Nuclear Engineering Harbin Engineering University Harbin China 《船舶与海洋工程学报》2002,1(2):18-22
In this paper, 3D track-keeping control method for autonomous underwater vehicle (AUV) with and without the influence of ocean current is investigated. Because the system to be controlled is highly nonlinear and strong coupled, an approach is used to divide it into two subsystems. One is to control the heading and the track error on the horizontal plane. The other is to control the pitch and the track error on the vertical plane. The results of computer simulation show that the autopilot works properly, it can capture the current waypoint and turns to track the next path automatically. 相似文献
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In this paper, towing tank experiments are conducted to study the behavior of flow on a model of the underwater vehicle with various shapes of bows, i.e. tango and standard bows in free surface motion tests. The total resistances for different Froude numbers are considered experimentally. The towing tank is equipped with a trolley that can operate in through 0.05–6 m/s speed with ±0.02 m/s accuracy. Furthermore, the study is done on hydrodynamic coefficients i.e. total, residual and friction resistance coefficients, and the results are compared. Finally, the study on flow of wave fields around bows is done and wave filed around two bows are compared. The Froude number interval is between 0.099 and 0.349. Blockage fraction for the model is fixed to 0.005 3. The results showed that the residual resistance of the standard bow in 0.19 to 0.3 Froude number is more than the tango bow in surface motion which causes more total resistance for the submarine. Finally, details of wave generated by the bow are depicted and the effects of flow pattern on resistance drag are discussed. 相似文献
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FEA for designing of floating raft shock-resistant system 总被引:2,自引:0,他引:2
ZHAOYing-long HELin HUANGYing-yun WANGYu 《船舶与海洋工程学报》2003,2(1):24-29
Choosing the equipment with good shock-resistant performance and taking shock protection measures while designing the onboard settings, the safety of onboard settings can be assured when warships, especially submarine subjected to non-contact underwater explosion, that is, these means can be used to limit the rattlespace (i. e. , the maximum displacement of the equipment relative to the base) and the peak acceleration experienced by the equipment. Using shock-resistant equipments is one of shock protection means. The shock-resistant performance of the shock-resistant equipments should be verified in the design phase of the equipments. The FEA (finite element analysis) software, for example, MSC. NASTRANw, can be used to verify the shock-resistant performance. MSC. PATRAN and MSC. NASTRAN are used for modeling and analyzing the floating raft vibration isolating equipment. The model of the floating raft and the floating raft vibration isolating system are theoretically analyzed and calculated, and the analysis results are in agreement with the test results. The transient response analysis of the system model follows the modal analysis of the floating raft vibration isolating system. And it is used to verify the shock-resistant performance. The analysis and calculation method used in this paper can be used to analyze the shock-resistant performance of onboard shock-resistant equipments. 相似文献
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LIU Jian-cheng LIU Xue-min XU Yu-ruCollege of Shipbuilding Engineering Harbin Engineering University Harbin China 《船舶与海洋工程学报》2002,1(1):21-25
In this paper, maximum-likelihood (ML) and its relaxation algorithm, which are used to identify the mathematicsmodel of an underwater vehicle(UV), arc discussed. With the trial data of zigzag tests, the hydrodynamic derivatives of theUV were estimated, and the relaxation algorithm is confirmed to have better astringency from the contrast between the twomethods.Then a simulation environment based on these parameters is established to verify the validity and effect of these meth-ods. The result shows the model is credible and the methods are very useful for the research of maneuverability and adaptivecontrol of underwater vehicles. 相似文献
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Underwater cylindrical shell structures have been found a wide of application in many engineering fields, such as the element of marine, oil platforms, etc. The coupled vibration analysis is a hot issue for these underwater structures. The vibration characteristics of underwater structures are influenced not only by hydrodynamic pressure but also by hydrostatic pressure corresponding to different water depths. In this study, an acoustic finite element method was used to evaluate the underwater structures. Taken the hydrostatic pressure into account in terms of initial stress stiffness, an acoustical fluid-structure coupled analysis of underwater cylindrical shells has been made to study the effect of hydrodynamic pressures on natural frequency and sound radiation. By comparing with the frequencies obtained by the acoustic finite element method and by the added mass method based on the Bessel function, the validity of present analysis was checked. Finally, test samples of the sound radiation of stiffened cylindrical shells were acquired by a harmonic acoustic analysis. The results showed that hydrostatic pressure plays an important role in determining a large submerged body motion, and the characteristics of sound radiation change with water depth. Furthermore, the analysis methods and the results are of significant reference value for studies of other complicated submarine structures. 相似文献
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In this paper, a new method based on morphologic research named reconstruction cross-component removal(RCCR) is developed to analyze geometrical scattering waves of an underwater target. Combining the origin of the cross-component in Wigner-Ville distribution, the highlight model of target echoes and time-frequency features of linear frequency-modulated signal can remove cross-components produced by multiple component signals in Wigner-Ville distribution and recover the auto-components of output signals. This method is used in experimental data processing, which can strengthen the real geometric highlights, and restrain the cross components. It is demonstrated that this method is helpful to analyze the geometrical scattering waves, providing an effective solution to underwater target detection and recognition. 相似文献
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一种基于PSO优化HWFCM的快速水下图像分割算法 总被引:3,自引:0,他引:3
The S/N of an underwater image is low and has a fuzzy edge.If using traditional methods to process it directly,the result is not satisfying.Though the traditional fuzzy C-means algorithm can sometimes divide the image into object and background,its time-consuming computation is often an obstacle.The mission of the vision system of an autonomous underwater vehicle (AUV) is to rapidly and exactly deal with the information about the object in a complex environment for the AUV to use the obtained result to execute the next task.So,by using the statistical characteristics of the gray image histogram,a fast and effective fuzzy C-means underwater image segmentation algorithm was presented.With the weighted histogram modifying the fuzzy membership,the above algorithm can not only cut down on a large amount of data processing and storage during the computation process compared with the traditional algorithm,so as to speed up the efficiency of the segmentation,but also improve the quality of underwater image segmentation.Finally,particle swarm optimization (PSO) described by the sine function was introduced to the algorithm mentioned above.It made up for the shortcomings that the FCM algorithm can not get the global optimal solution.Thus,on the one hand,it considers the global impact and achieves the local optimal solution,and on the other hand,further greatly increases the computing speed.Experimental results indicate that the novel algorithm can reach a better segmentation quality and the processing time of each image is reduced.They enhance efficiency and satisfy the requirements of a highly effective,real-time AUV. 相似文献
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水下拖曳系统水动力特性的计算流体力学分析 总被引:1,自引:0,他引:1
提出了一种新型的水下拖曳系统三维水动力数学模型。在该模型中拖曳缆绳的控制方程由Ablow andSchechter模型给出,Gertler and Hargen的水下运载体六自由度运动方程被用来描述拖曳体的水动力状态。通过对拖曳缆绳和拖曳体的控制方程在连接点处进行边界条件耦合,从而构成整个拖曳系统的水动力数学模型。在研究中,拖曳系统的水动力数学模型通过时间与空间的中心差分方程来逼近,每一时刻拖曳体所受的水动力通过求解Navier-Stokes方程得到。所提出的模型特别适用于拖曳体为非回转体、非流线型的主体,或必须考虑拖曳体各组成部分的水动力相互影响的情况。计算结果与相应的实验室样机试验结果的比较表明,所提出的模型可以有效地预报拖曳系统的水动力特性。利用所提出的水动力模型,对华南理工大学提出的自主稳定可控制水下拖曳体在实际海况下的数值模拟结果显示,所分析的拖曳体具有良好的运动与姿态稳定性,是一种值得开发研究的新型水下拖曳体。 相似文献
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Mohammad Bozorg Hadi Jalili S. Ali Eftekhari 《Journal of Marine Science and Technology》2007,12(4):232-239
The performance of the control systems of autonomous underwater vehicles (AUVs) in the presence of parameter variations was
studied. With an AUV working at different operating speeds and in different ocean environments, the physical parameters such
as speed, hydrodynamic coefficients, or inertias may be perturbed from their nominal values. The vehicle control systems can
be modeled as systems with parameter uncertainty. An existing robust control method, which uses the robustness properties
of polynomials, was used for this system to calculate the permissible ranges of variation in the parameters. The method was
applied to the Naval Postgraduate School AUV II and the results were verified by simulating the motion control of the vehicle
under the influence of parameter perturbations. 相似文献
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水下滑翔机水动力外形研究综述 总被引:5,自引:0,他引:5
水下滑翔机是一种将传统的浮标技术与水下机器人技术相结合而研制成的新型自治水下机器人,具有作业时间长、航行距离大、建造和使用成本低等优点。水下滑翔机主要用于海洋环境长时间、大范围的实时监测,因此要求其具有优良的水动力性能。文章简要回顾了水下滑翔机的发展历程,重点介绍了其水动力外形方面的研究进展,并简要介绍了混合驱动和飞翼等概念在水下滑翔机上的应用研究,最后对水下滑翔机未来的发展趋势进行了展望。 相似文献
17.
带缆遥控水下机器人水动力数学模型及其回转运动分析 总被引:2,自引:0,他引:2
提出了一种新型的带缆水下机器人系统三维水动力数学模型。在该模型中脐带缆的控制方程由脐带缆任一微段中的力的平衡条件导出,在此基础上以该脐带缆的控制方程为核心,通过引入脐带缆与水下机器人连接点的边界条件而建立起整个系统的三维水动力学数学模型。数值模拟中作用在机器人主体上的水动力载荷和旋转导管螺旋桨的控制力在考虑了它们之间的相互影响基础上以计算流体力学方法求出。该模型的主要特点是克服了现有的带缆水下机器人系统水动力数学模型将系统各组成部分割裂处理、缺乏从系统整体理论框架中去观察脐带缆、水下机器人主体和螺旋桨推进器水动力特征的缺陷,从一种综合、整体的观点去观察分析带缆遥控水下机器人的动力状态。水下机器人在导管螺旋桨作用下回转运动的数值模拟结果表明,利用所建立的数学模型可以对带缆水下机器人水动力状态进行有效的数值模拟。 相似文献
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浮力驱动式水下滑翔机对我国海洋勘探和国防建设有着重要的应用前景。本文介绍了水下滑翔机的工作机理,对某一滑翔机,重点设计了实现姿态调整的横滚控制组件和俯仰控制组件,同时提出总体布局的原则,并给出了滑翔机总体结构布局方案。对所设计的滑翔机的总体衡重参数和流体动力参数进行了计算,初步验证了总体设计方案的可行性,可以满足设计指标要求。 相似文献