Time-fuel synthetic optimal control of ship-borne special crane based on predictive average dynamic

Ship-bome special crane, a multi-joints and foldaway one, is important to study the most effective energy-saving ( i. e. synthetic time-fuel optimal) operation control mode. In this paper, by introducing weighted parameters, a time-fuel synthetic optimal criterion is obtained, and configuration of the optimal controller is verified. Furthermore, a predictive average dynamic method is put forward, and applied to treat nonlinearity and coupling of the crane. Finally, an optimal controller with feedback is designed. The validity of this approach is verified by simulation results.     

Experimental research on dynamic vibration absorber with negative stiffness for longitudinal vibration control of propulsion shafting system北大核心CSCD

［Objectives］In order to control the first longitudinal vibration mode of propulsion shafting systems, a dynamic vibration absorber with disc spring negative stiffness is proposed and its experimental verification carried out. ［Methods］A test bench is established for the propulsion shafting system containing a dynamic vibration absorber with negative stiffness. According to the first longitudinal vibration mode of the shafting, a dynamic vibration absorber with negative stiffness integrated into the thrust bearing is developed. Vibration transmission tests under different rotational speeds, static thrusts and negative stiffness are then carried out, and acceleration response data on the thrust bearing foundation and shafting is obtained. ［Results ］ The results show that the developed dynamic vibration absorber with negative stiffness can achieve vibration suppression of 7.8 dB for the thrust bearing foundation in the first longitudinal mode of the propulsion shafting with a mass ratio of 1.6%, and the vibration control effect of the negative stiffness dynamic vibration absorber is maintained at 3.3 dB when the natural frequency changes by 5% and the thrust changes by 40%. The vibration response on the thrust bearing foundation and shafting do not deteriorate even at non-optimal negative stiffness. ［Conclusions］This study shows that a dynamic vibration absorber with negative stiffness can effectively suppress vibration transmission at the first longitudinal mode of a shafting under different rotational speeds. © 2023 Authors. All rights reserved.     

Cooperative path following control of UAV and USV cluster for maritime search and rescue北大核心CSCD

［Objectives ］ This paper studies a three-dimensional (3D) cooperative path-following control problem in the process of maritime search and rescue for a heterogeneous unmanned cluster system composed of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs).［Methods ］ First, kinematic models of the UAVs and USVs are established under a fixed coordinate system and body coordinate system. In order to design a 3D path-following controller suitable for motion control, an air coordinate system is established, and the path tracking error models of the UAVs and USVs are established in the Serret-Frenet coordinate system. Next, a 3D line-of-sight (LOS) guidance law is designed at the kinematic level, and a cooperative path-following control method suitable for heterogeneous clusters of marine vehicles is proposed, allowing the UAVs and USVs to track the preset parameterized path. Finally, the stability of the control system is analyzed based on the Lyapunov stability theory.［Results］The simulation results verify the effectiveness of the proposed cooperative path-following control method for heterogeneous clusters of marine vehicles.［Conclusions］The results of this study can provide references for maritime search and rescue by using the proposed cooperative path-following control method. © 2022 Journal of Clinical Hepatology. All rights reserved.     

Analysis on acoustic performance of floating raft vibration isolation system with liquid tank北大核心CSCD

［Objective］This paper aims to establish a dynamic model of a floating raft vibration isolation system with a liquid tank in order to study the mass effect of the liquid medium, tank form, structural stiffness and loading rate on acoustic performance. ［Methods］A floating raft system with a cuboidal or cylindrical liquid tank is taken as the research object, and a fluid-structure coupling finite element dynamic model is established. The dynamic force transmission rate and power flow are then used to evaluate the acoustic performance of the system. The influence of the mass effect of the liquid medium, tank form, structural stiffness and loading rate of tank volume on the acoustic performance of the floating raft system are analyzed.［Results］The results show similar laws obtained through the calculation and analysis of the floating raft system with two types of tanks. The structural stiffness of the tank affects the mass effect of the liquid medium in the tank to a certain extent. ［Conclusions］If full advantage is to be taken of the liquid mass effect in the tank with a large loading rate to improve the acoustic performance of the floating raft system, the design of the liquid tank and raft structure must have sufficient stiffness. In addition, under the condition that the floating raft structure has sufficient stiffness, its acoustic performance will improve significantly as the tank loading rate increases in the relevant low frequency range. © 2022 Journal of Clinical Hepatology. All rights reserved.     

Uncertainty analysis of propulsion shafting vibration北大核心CSCD

［Objective］In view of the insufficient safety and reliability of the traditional deterministic vibration analysis of ship propulsion shafting system, the vibration response analysis of the shafting system under uncertain excitation conditions is carried out. ［Methods］Using non-random vibration analysis based on non-probabilistic convex model process, the uncertain excitation and vibration response are described in the form of the upper and lower bounds of the interval to reduce dependence on a large amount of excitation sample data. Compared with the calculation results in the relevant literature, the validity of the program for solving the response bound of the two-degrees-of-freedom (2-DOFs) system is verified, and the uncertain vibration problem of the shafting system is then explored on this basis. ［Results］The results show that when the shafting system is excited by [−30 N, 30 N] propeller laterally, a displacement response of the magnitude of about 10−6 m is generated at the bearing. It is also indicate that the shafting system is excited in a certain interval, so a certain interval response must be produced. ［Conclusions］Applying the non-probabilistic convex model process and non-random vibration analysis to the field of the uncertain vibration analysis of ship propulsion shafting system, the vibration displacement response bound of the shafting under uncertain excitation conditions can be obtained with fewer excitation samples, thereby providing useful references for improving the robustness of the dynamic response prediction of ship propulsion shafting systems. © 2023 Chinese Journal of Ship Research. All rights reserved.     

Monocular visual servo-based stabilization control of underactuated unmanned surface vehicle北大核心CSCD

［Objectives ］ Aiming at the accurate posture stabilization problem of an under-actuated unmanned surface vehicle (USV) in GPS-denied environments, a monocular visual servo stabilization control scheme is proposed based on homography.［Methods］By virtue of the homography decomposition technique, posture errors with an unknown scale factor are directly reconstructed from current and desired images, which thoroughly removes the calibration of extrinsic camera parameters and priori information on visual targets; with respect to the under-actuation constraint, a periodic function to persistently excite the yaw angle is incorporated into the continuous time-variant output feedback controller, allowing the USV to be stabilized in the absence of image depth, movement velocities and model parameters.［Results］Under the framework of the Lyapunov theory, the closed-loop visual servo system of the USV is rigorously proven to be asymptotically stable by Barbalat lemma.［Conclusions］By installing an onboard monocular camera, USV posture errors can be precisely stabilized with the aid of the proposed visual servo strategy, providing significant technique support for practical applications including docking, berthing, dynamic positioning, etc. © 2022 Journal of Clinical Hepatology. All rights reserved.     

Constructal design of tree-shaped microchannel disc heat sink with wavy walls北大核心CSCD

［Objective］To meet the efficient thermal management needs of electronic devices such as ships and underwater vehicles, this study focuses on the constructal design of a tree-shaped microchannel disc heat sink with wavy walls. ［Method］A design prototype of the heat sink with wavy walls is first proposed. Based on constructal theory, the amplitude and wavelength of the wavy walls are designed under the constraints of fixed heat sink volume and fixed microchannel volume by maximizing the comprehensive performance evaluation criteria (PEC) while considering both heat transfer and flow pressure drop. ［Results］The results show that the wavy walls increase the heat transfer surface areas and generate vortices in their cavities, effectively reducing the maximum temperature. When the inlet Reynolds number is fixed at 700, 900 or 1100 respectively, the maximum temperature is reduced by 13.5 K by increasing the amplitude of the wavy walls, while the pressure drop increases significantly; and the maximum temperature is reduced by 4.7 K by reducing the wavelength of the wavy walls, while the pressure drop increases slightly. There are optimal amplitudes that raise the comprehensive performance evaluation criteria to extreme values for given larger wavelengths, while the comprehensive performance evaluation criteria increase monotonously as the amplitude increases for given smaller wavelengths. ［Conclusion］Wavy walls can significantly improve the thermal performance of tree-shaped microchannel disc heat sinks, and the use of constructal design can realize optimal geometric constructs with optimal comprehensive performance evaluation criteria. © 2023 Authors. All rights reserved.     

Asymmetric regular sampling SPWM method based on tangent-secant midpoint approximation applied to intermediate frequency inverter power supply北大核心CSCD

［Objective］In order to reduce the switching frequency of an intermediate frequency inverter power supply, ensure the quality of the output waveform and realize digitalization easily, a SPWM sampling method based on a tangent-secant midpoint approximation is proposed. ［Methods］It is proven by deduction that the quantitative relationship of the natural sampling method can be approximated, and a Matlab/Simulink simulation model is built. The algorithm is designed and applied to an intermediate frequency inverter device, and the correctness of the proposed method is verified in the two aspects of simulation and experiment. ［Results］The simulation results show that the total harmonic distortion (THD) of the output waveform based on the tangent-secant midpoint approximation method is 2.64%, lower than the 3.99% of the symmetrical regular sampling method. The waveform quality of the tangent-secant midpoint approximation method is obviously better than that of the symmetrical regular sampling method, as it not only reduces the switching frequency but also takes into account the requirements of THD. ［Conclusions］SPWM sampling based on tangent-secant midpoint approximation is applied to the intermediate frequency power supply and is able to effectively overcome the shortcomings of the low-quality output waveform and high switching frequency of the symmetrical regular sampling method. Both theoretical analysis and engineering practice verify the rationality and correctness of the proposed method, and it can be widely extended to the field of intermediate frequency power supply installation. © 2022 Journal of Clinical Hepatology. All rights reserved.     

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.     

Seabed collision emergency decision-making of AUV based on safety domain model北大核心CSCD

［Objectives］To ensure safety and prevent seabed collisions in complex unknown underwater environments, this study proposes a seabed safety domain model and tiered emergency response strategies. ［Methods］A vertical motion simulation model is established and verified by surpassing the test results, then used to calculate the active and passive safety domain distance of an autonomous underwater vehicle (AUV), thereby establishing a seabed safety domain model. An AUV emergency control system and emergency strategies are then built on the basis of the dynamic safety domain model. The trim and distance from the seabed of the AUV are used to calculate the current and future risk factors. Based on the weighted sum, the comprehensive risk factor is employed to provide the AUV with emergency response strategies.［Results］Lake tests with the AUV sailing at a fixed depth and height show a strong dependency of the comprehensive risk coefficient on seabed height when it is close to the boundary of the AUV's active safety domain. In the opposite case, there is a weak dependency of the comprehensive risk coefficient on seabed height. The results show that the proposed AUV emergency control system can reduce emergency false alarms caused by frequently changing riverbed heights and sailing altitudes close to the seabed. In such cases, reasonable emergency strategies can be realized under complex rough terrain.［Conclusions］The AUV seabed safety domain model and tiered emergency response strategies based on vertical motion equations proposed herein can be applied to evaluate seabed collision risk in various cases. Finally, this paper provides emergency response strategies to avoid seabed collision accidents, which can enhance the safety of AUV navigation. © 2023 Chinese Journal of Ship Research. All rights reserved.     

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.     

Parameter optimization and parametric deviation influence for shock resistance of double-stage vibration isolation system with limiters北大核心CSCD

［Objectives］For marine nuclear power plants, the relative displacement of the pump supported by a vibration isolation system should be strictly restricted. In order to improve the shock resistance of a vibration isolation system with displacement limiters, the parameter optimization and parametric deviation influence are studied. ［Methods］The theoretical model of a double-stage vibration isolation system with typical limiter parameters is established, the analysis of the shock response characteristics of the system is carried out using the direct integration method, the optimal limiter parameters are obtained using a genetic algorithm, and the influence of parameter deviation on the shock resistance of the system is studied. ［Results］Limiter parameters significantly affect the shock response characteristics of the vibration isolation system. The optimal limiter parameters improve the shock resistance of the system, but parameter deviation has a great influence on shock resistance. Based on the influence of parameter deviation, a deviation control strategy is proposed in which the elastic parameter should have a positive deviation and the gap parameter a negative deviation. The simulation results show that the proposed strategy can effectively alleviate the shock resistance degradation caused by deviation.［Conclusions］The results of this study can be used to guide the design, manufacturing and variation control of limiters for vibration isolation systems. © 2022 Journal of Clinical Hepatology. All rights reserved.     

声传输进结构-声腔耦合舱室空间的主动控制策略和机理研究(英文)

An analytical study was presented on active control of sound transmission into a vibro-acoustic enclosure comprising two flexible plates. Two types of actuators were used, i.e. acoustic actuator and distributed lead zirconate titanate piezoelectric (PZT) actuator instead of point force actuator. Using the modal acoustic transfer impedance-mobility matrices, the excitation and interaction in the coupled sound transmission system can be described with clear physical significance. With the control system designed to globally reduce the sound field, different control system configurations were considered, including the structural actuator on the incident plate, actuator on the receiving plate, acoustic actuator on the cavity, and their combinations. The effectiveness and performance of the control strategy corresponding to each system configuration were compared and discussed. The role and control mechanism of each type of actuator were of particular interest. It was shown that the incident plate actuator is effective in controlling the cavity-dominated modes and the structural modes dominated by the incident plate and receiving plate. Two main control mechanisms are involved in this control configuration, i.e., modal suppressing and modal rearrangement. For control system configuration with only acoustic actuator in the enclosure, the mechanism involved in this arrangement is purely modal suppression. Desirable placements of structural actuators in terms of total potential energy reduction were also discussed.     

Fault Diagnosing System of Steam Generator for Nuclear Power Plant Based on Fuzzy Neural Networks

All kinds of reasons are analysed in theory and a fault repository combined with local expert experiences is establishedaccording to the structure and the operation characteristic of steam generator in this paper. At the same time, Kohonen algo-rithm is used for fault diagnoses system based on fuzzy neural networks. Fuzzy arithmetic is inducted into neural networks tosolve uncertain diagnosis induced by uncertain knowledge. According to its self-association in the course of default diagnosis. thesystem is provided with non-supervise, self-organizing, self-learning, and has strong cluster ability and fast cluster velocity.     

Experimental research on dynamic responses characteristics and influence laws of gear transmission-propulsion system under gear excitation北大核心CSCD

［Objective］In order to study the dynamic response characteristics and influence laws of a marine gear transmission-propulsion system, a series of bench tests is carried out.［Methods］First, a biaxial gear transmission-propulsion system test bench including a cross connection gear is built. Experiments to test the acceleration response of the gearbox body and propulsion shaft system are then carried out, and the influence of speed, driving mode, axial static thrust, axial dynamic excitation force from the propeller and other factors on the dynamic response characteristics of the system are compared and analyzed. ［Results］The experimental results show that the transmission law of the vibration acceleration response of the gear transmission-propulsion system is mainly at the meshing frequency and its multipliers, as well as peaks in the low frequency band of 30–80 Hz under certain working conditions. ［Conclusion］This study can provide technical support for the vibration and noise reduction design of gear transmission-propulsion systems. © 2022 Journal of Clinical Hepatology. All rights reserved.     

Research on H2 speed governor for diesel engine of marine power station

The frequency stability of a marine power system is determined by the dynamic characteristic of the diesel engine speed regulation system in a marine power station. In order to reduce the effect of load disturbances and improve the dynamic precision of a diesel engine speed governor, a controller was designed for a diesel engine speed regulation system using H2 control theory. This transforms the specifications of the system into a standard H2 control problem. Firstly, the mathematical model of a diesel engine speed regulation system using an H2 speed governor is presented. To counter external disturbances and model uncertainty, the design of an H2 speed governor rests on the problem of mixed sensitivity. Computer simulation verified that the H2 speed governor improves the dynamic precision of a system and the ability to adapt to load disturbances, thus enhancing the frequency stability of marine power systems.     

Turbine speed control system based on a fuzzy-PID

The flexibility demand of marine nuclear power plant is very high, the multiple parameters of the marine nuclear power plant with the once-through steam generator are strongly coupled, and the normal PID control of the turbine speed can＇t meet the control demand. This paper introduces a turbine speed Fuzzy-PID controller to coordinately control the steam pressure and thus realize the demand for quick tracking and steady state control over the turbine speed by using the Fuzzy control＇s quick dynamic response and PID control＇s steady state performance. The simulation shows the improvement of the response time and steady state performance of the control system.     

Safety assessment for a side-by-side offloading mooring system

In order to improve the safety properties of an offloading system with side-by-side (SBS) mooring in which the FPSO is moored by a yoke system in the field of BZ25-1, it is necessary to analyze those properties. According to the experience of similar projects, tow strategies of different offloading arrangements were discussed by using the 3-D radiation/diffraction theory and quasi-static time domain method to assess their respective safety properties. Through the safety assessment analysis of different arrangement comparisons, various ways to improve the safety properties of offloading systems with side-by-side mooring were verified by analyzing the tension in the mooring lines and the fender deflection. Through comparison it can be concluded that by enlarging the key factors properly, including the size of the fenders and the hawsers as well as the number of hawsers, a better safety performance can be achieved.     

基于自适应平方根 CKF 的多传感器混合融合算法(英文)

In the normal operation condition, a conventional square-root cubature Kalman filter (SRCKF) gives sufficiently good estimation results. However, if the measurements are not reliable, the SRCKF may give inaccurate results and diverges by time. This study introduces an adaptive SRCKF algorithm with the filter gain correction for the case of measurement malfunctions. By proposing a switching criterion, an optimal filter is selected from the adaptive and conventional SRCKF according to the measurement quality. A subsystem soft fault detection algorithm is built with the filter residual. Utilizing a clear subsystem fault coefficient, the faulty subsystem is isolated as a result of the system reconstruction. In order to improve the performance of the multi-sensor system, a hybrid fusion algorithm is presented based on the adaptive SRCKF. The state and error covariance matrix are also predicted by the priori fusion estimates, and are updated by the predicted and estimated information of subsystems. The proposed algorithms were applied to the vessel dynamic positioning system simulation. They were compared with normal SRCKF and local estimation weighted fusion algorithm. The simulation results show that the presented adaptive SRCKF improves the robustness of subsystem filtering, and the hybrid fusion algorithm has the better performance. The simulation verifies the effectiveness of the proposed algorithms.     

Underwater hydraulic shock shovel control system

The control system determines the effectiveness of an underwater hydraulic shock shovel. This paper begins by analyzing the working principles of these shovels and explains the importance of their control systems. A new type of control system’s mathematical model was built and analyzed according to those principles. Since the initial control system’s response time could not fulfill the design requirements, a PID controller was added to the control system. System response time was still slower than required, so a neural network was added to nonlinearly regulate the proportional element, integral element and derivative element coefficients of the PID controller. After these improvements to the control system, system parameters fulfilled the design requirements. The working performance of electrically-controlled parts such as the rapidly moving high speed switch valve is largely determined by the control system. Normal control methods generally can’t satisfy a shovel’s requirements, so advanced and normal control methods were combined to improve the control system, bringing good results.