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.     

Simulation analysis of static and dynamic characteristics of once-through steam generator in concentric annuli tube

1 Introduction1 Steam generator is an important equipment of an integrated pressurized water reactor. In recent design, the once-through steam generator (OTSG) is mostly applied because it delivers superheated steam and requires no separators. Moreover, i…     

Analysis of signal-obtaining error factor of sensor in gyro

The digital signal-obtaining for gyroscope is given. The single optic-fiber sensor via modulating intensity of light is used as measuring eonlponent . The influence on static transmission properties resulting from the special working environnlent （e. g. cryogenic and vacuum） ,the measure error because of tile reflector shape of rotor,the abnormity of facula from sensor caused by the existence of engraving error,and tile fixing error of sensor and the error of machine tool＇s initial lignnlent are investigated. The mathematic model in every condition is founded, the simulation and relative experiments ale done and the outeome is analyzed. The mathematic model and method of compensating technology are studied and some relative experiments are made. The result of study is usefid to improvement of the signal-obtaining system.     

S^2 BHCA Multiple AUVs cooperation oriented control architecture

Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill ＆ simulation based hybrid control architecture （S^2BHCA） as the controller＇s design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S^2BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the ＂skill＂. The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three ＂skills＂ for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S^2BHCA.     

A review of the Effect of α/W ratio on fracture toughness （Ⅱ） experimental investigation in LEFM

In part I of this series, experimental investigation in EPFM （elastic-plastic fracture mechanics） had been discussed. In this paper, experimental investigation in LEFM （ linear elastic fracture mechanics） is given. Fracture toughness tests had been carried out on three different strength steels, using both through-cracked specimens with different α/W ratio and semi-elliptical cracked specimens with variable crack size and shape. Results show that the fracture toughness KIC increases with decreasing α/W when α/W 〈 0.3 for three-point-bend specimens, and that for α/W 〉 0.3, it is independent of α/W. Shallow crack specimens, both through-cracked and surface-cracked, gave markedly higher values than deeply notched specimens. However, the effect of crack shape on fracture toughness is negligible. Results also show that the LEFM approach to fracture is not tenable for design stresses where αc is often very small, far less than 2.5 （ KIC/σy）^2.     

螺旋桨-冰接触工况下载荷试验研究

船舶在冰区航行时,经常会发生碎冰在艏部下沉,并沿着船体滑入螺旋桨前的流场中,导致高速旋转的螺旋桨与冰发生切削作用,使得螺旋桨桨叶发生严重变形和损坏。为了进一步分析和研究螺旋桨-冰切削过程中的各种载荷,文中首先在拖曳水池中搭建了螺旋桨-冰切削试验平台,详细叙述了测量设备和模型冰推送装置。然后,通过重复性分析以及与其他学者的研究进行对比分析,验证了试验平台的可行性和可靠性。最后,对螺旋桨-冰在空气中以及在水中切削时受到的载荷情况进行了详细的分析。试验结果表明:螺旋桨-冰切削试验平台的搭建具有可行性,能够较好地测量螺旋桨-冰的切削载荷;模型冰移动的速度越快,螺旋桨受到的挤压载荷越大;螺旋桨-冰切削过程中接触载荷的详细描述对冰级螺旋桨的结构设计具有重要的工程意义和应用价值。     

考虑非对称剖面中和轴偏转的改进Smith法研究

简化逐步破坏法(Smith法)是目前相关船级社规范推荐的船体极限弯矩计算方法之一,其计算精度取决于中和轴位置和单元应力-应变关系的计算精度。针对目前规范中单一的“力平衡准则”无法有效考虑非对称剖面(含破损状态)中和轴偏转的问题,文章在力平衡准则的基础上,进一步考虑剖面的力矢量平衡准则,结合多目标粒子群优化算法(MOPSO)研究建立了一种非对称剖面中和轴确定方法,在此基础上改进了现有的Smith法,以实现非对称剖面的极限承载能力分析。以Dow1/3护卫舰模型为例,开展了完整正浮工况和多个破损横倾工况的极限弯矩计算。结果对比分析表明:对于受损船舶,中和轴偏转对剖面弯矩有显著影响,基于PSO的中和轴确定方法具有较好的自适应和计算精度。     

考虑残余应力的加筋板结构疲劳裂纹应力强度因子计算方法研究

文章基于温度梯度法对焊接残余应力分布进行了模拟。通过对有限元网格划分规则的讨论,确定了数值模拟过程中应力强度因子计算的最佳方案,同时,采用Green函数法以及Faulkner模型给出了残余应力作用下应力强度因子的理论值。通过有限元模拟与理论计算的结果比较,验证了常规载荷以及残余应力作用下,含中心裂纹平板以及含初始裂纹加筋板结构应力强度因子计算结果的准确性,建立了考虑残余应力影响的结构裂纹扩展模拟流程。最后,通过拉伸载荷下加筋板裂纹扩展模型试验对数值计算方法进行了验证,为加筋板结构裂纹扩展规律研究以及裂纹扩展寿命预报奠定了基础。     

船舶齿轮传动装置箱体振动噪声 分析与控制研究进展

箱体作为船舶齿轮传动装置的重要组成部分,在工作过程中由于齿轮系统的激励会产生振动噪声,不仅影响船舱的舒适性,还会对船舶的安全造成威胁。针对船舶齿轮箱尺寸大、结构复杂、安装形式多样的特点,文章从振动噪声的分析方法和控制措施两方面总结了国内外近年来的研究进展。在分析方法方面,对比了采用齿轮系统-箱体全有限元模型进行振动分析与采用齿轮系统集中质量模型和箱体有限元模型进行振动分析的优缺点,评述了有限元法、边界元法、统计能量法、中频混合法等方法的特点及研究进展,总结了计入安装特征影响的方法。在控制措施方面,介绍了以降低振动噪声为目标指导齿轮箱结构改进的方法,总结了确定阻尼材料敷设位置、方式及厚度的方法。最后讨论了需要进一步研究的问题。     

The asymptotic field of a dynamically growing crack in a viscoelastic materia

A mechanical model of a fracturing viscoelastic material was developed to investigate viscous effects in a dynamically growing crack-tip field. It was shown that in the stable creep-growing phase,elastic deformation and viscous deformation are equally dominant in the near-tip field,and stress and strain have the same singularity,namely,(σ,ε ) ∝ r?1 /( n?1) . The asymptotic solution of separating variables of stress,stain and displacement in the crack-tip field was obtained by asymptotic analysis,and the resulting numerical value of stress and strain in the crack-tip field was obtained by the shooting method and the boundary condition of a mode I crack. Through numerical calculation,it was shown that the near-tip fields are mainly governed by the creep exponent n and Mach number M . When n →∞,the asymptotic solution of a viscoelastic material can be degenerated into that of Freund's elastic-ideally plastic material by analyzing basic equations.     

Information models and functions for CIM in shipbuilding

In order to make significant progress in design and manufacturing systems, all industries must consider integration. This paper considers information models and functions for a computer integrated design and manufacturing system in shipbuilding. The authors propose the product model and several alterative functions for designing a ship's structure, and develop a “ship definition system for computer integrated design and manufacturing.” This system is called SODAS (System of Design and Assembly for Shipbuilding). An object-oriented concept is used to develop this system. In order to define a ship's structure, the authors propose the product models of “parts member” and “parts connection,” and the product models of “Room,” “Unit,” and “Module” are introduced to define the compartments, internal structures and intermediate products of a ship. Therefore, all information about a product from the design to the production stage is stored in the product model. As well as the product model, the “design function,” “cutting function,” and “virtual assembling function” are introduced. By using the design function, any type of ship's structure can be designed, and by using the cutting function, the design of a ship's structure can be cut into smaller elements. By using the virtual assembling function, a simulation of the manufacture of a ship's structure can be carried out.     

Eradication of algae in ships＇ ballast water by electrolyzing

In order to verify the effectiveness of electrolytic treatment on ships＇ ballast water, experiments are carried out by a pilot system in laboratory. The raw seawater and seawater with different concentrations of different algae are simulated as ships＇ ballast water. The algae in the raw seawater can be killed if it is treated by electrolysis with an initial residual chlorine concentration of 5 mg/L. If the seawater with one kind of algae （Nitzschia closterum, Dicrateria spp., or Pyramidomonnas sp.105cells/mL） is treated by electrolysis with an initial residual chlorine concentration of 5 mg/L the alga can be sterilized, If the seawater with one kind of algae （Dunaliella sp., Platymonas or Chlorella spp.） is directly treated by electrolyzing with an initial residual chlorine concentration of 4 mg/L, the instant mortality changes with the concentration of different algae. However, after 72 hours, in all treated samples, there are no live algal cells found.     

基于LES方法圆柱绕流三维数值模拟(英文)

采用计算流体软件CFX5中large.eddy simulation(LES)模型计算了均匀流场中三维圆柱绕流的水动力特性.使用有限体积法对三维N-S方程进行求解.数值模拟着重研究了高雷诺数时展向各截面的压力、阻力、升力及涡管特性.数值计算结果表明:展向各截面柱体受力关于中截面对称且小于二维情况,柱体周围流场呈现明显的三维特性.     

Comparison of robust H<Subscript>∞</Subscript> filter and Kalman filter for initial alignment of inertial navigation system

There are many filtering methods that can be used for the initial alignment of an integrated inertial navigation system. This paper discussed the use of GPS, but focused on two kinds of filters for the initial alignment of an integrated strapdown inertial navigation system （SINS）. One method is based on the Kalman filter （KF）, and the other is based on the robust filter. Simulation results showed that the filter provides a quick transient response and a little more accurate estimate than KF, given substantial process noise or unknown noise statistics. So the robust filter is an effective and useful method for initial alignment of SINS. This research should make the use of SINS more popular, and is also a step for further research.     

永久式与可解脱式FPSO(英文)

浮式生产储卸油系统(FPSO)是一种经济有效的浮式平台方案,特别是在缺乏足够的输油管道系统的深海领域.大多数FPSO是永久系泊的,即整个系统能够抵抗工作海域内的各种极值环境条件.目前,能够将FPSO与其系泊及立管系统快速解脱的装置已经设计并发展了.可解脱式FPSO的主要特点是可解脱性,并能避免一定的环境条件,如冰山,美国摩西哥湾的飓风,中国南海的台风.本文将针对深水海域可解脱式FPSO,提出其主要技术和工程分析与设计思路,评估可解脱式FPSO与永久式FPSO的优缺点,等等.可见町解脱式FPSO与永久式FPSO都是十分有效的浮式系统,并根据平台设计的安全性、技术、成本和运行要求,来决定选择何种系泊方式.     

对劳氏散装货船双层底强度计算法的修正建议

1980年9月,笔者在哈尔滨船舶工程学院以“船舶横强度计算法的五十年变迁”为题讲了100小时的课。在讲课中,对于散装货船双层底强度计算法,以劳氏船级社(以下简称劳氏)的直接计算法为例加以说明。那时,说明了此方法的模型化甚有趣,但还有许多疑点,并讲述了自己的意见。其后,对这些疑点继续加以讨论,结果发现以     

S~2 BHCA-Multiple AUVs cooperation oriented control architecture

Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill & simulation based hybrid control architecture (S2BHCA) as the controller's design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the "skill". The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three "skills" for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S2BHCA.     

The ultimate strength of doubler plate reinforced Y-joints under compression loading

It is common practice in the offshore industry to solve the punching shear problem due to compression by using doubler plate. The finite-element method is a useful tool for studying this problem. The aim of this paper is to study the static strength of doubler plate reinforced Y-joints subjected to compression loading. The finite-element method is adopted in numerical parametric studies. The individual influences of the geometric parameters βand τd （ doubler plate to chord wall thickness ratio） and ld/d1 （ dubler plate length to brace diameter ratio） on the ultimate strength are made clear. The results show the size of plate may have important effects on the strength of reinforced joints. It is found that the ultimate strength of Y-joints reinforced with appropriately proportioned doubler plates can be greatly improved nearly up tothree times to un-reinforced Y-joints.     

Underwater acoustic imaging: image due to a specular reflector in the geometrical-acoustics limit

In underwater acoustic imaging, which is used to produce high-quality images in turbid waters, a specular reflector can produce a “pseudoimage” of the receiving array at the reflecting surface. Based on the “geometrical approximation” (which is similar to geometrical acoustics), formulae are derived for the size and shape of the pseudoimage for both flat and curved reflectors. For curved reflectors, described by two principal radii of curvature, the formulae also assume the “large-range approximation.” The formulae allow radii of curvature to be determined from an image. Also discussed briefly are some possible extensions and the role of nongeometrical effects.     

Outline of scientific ocean drilling and specifications of riser drilling vessel Chikyu

 The Japan Marine Science and Technology Center (JAMSTEC) has been, and is now promoting the “OD21” program (i.e., “Ocean drilling in the 21st century”). This is the first plan in the world to utilize deep-water riser-drilling technologies for scientific drilling. One of the important factors for the success of this program is the development of a high-performance drilling vessel. Since 1990, JAMSTEC has been continuing a technological study of a riser-drilling vessel for scientific studies with an operational capability in waters up to 4000 m deep. It was decided to start the construction with a two-phase plan: a vessel with a riser operation for waters up to 2500 m deep will be constructed in the initial stage, and then the vessel will be modified to a 4000-m depth capability. In the development process of the vessel, named Chikyu, many new technical developments have taken place, such as drilling/coring equipment, a dynamic positioning system, etc. Thus, the Chikyu is expected to contribute to ocean engineering and other work, in addition to scientific advances. Received: June 15, 2002 / Accepted: November 11, 2002 Address correspondence to: Y. Yano (e-mail: yanoy@jamstec.go.jp)