无人艇工程控制课程实践教学平台开发

针对在教学环节中存在的问题，利用计算机技术和工业软件开发无人艇工程控制课程实践教学平台。该平台可进行无人水面艇（Unmanned Surface Vessel，USV）建模及运动轨迹控制。针对USV物理参数的不确定性，根据运动学和动力学模型设计控制器，分析控制器参数对USV运动性能的影响规律。无人艇工程控制课程实践教学平台的建设应用可提升学生对USV的运动操控、故障判断及维护保养能力。     

Wave spectrum estimation conditioned on machine learning-based output using the wave buoy analogy

In this work, a hybrid approach for wave spectrum estimation is proposed. Fundamentally, the approach is based on the wave buoy analogy, processing ship response measurements, via a framework combining machine learning and a physics-based method dependent on available transfer functions. Specifically, a non-parametric (Bayesian) estimate is obtained of the directional wave spectrum conditioned on integral wave parameters established by a convolutional neural network. The developed method is assessed in a case study considering about two years of data obtained from an in-service container ship. The method produces good results, significantly improved when compared to the initial estimate made without constraints.     

Hydrodynamic modelling of a multi-body wave energy converter using the Moving Frame Method

Significant wave energy conversion may be achieved with multiple floats with several modes of motion combining constructively to generate power. With the M4 system, power take off is at hinges to absorb resulting pitch motions. Complexity increases with number of floats and conventional vectorial multi-body dynamics may be conveniently replaced by the recently formulated moving frame method based on the calculus of variations to avoid free-body diagrams and joint reaction forces. Furthermore by utilising group theory to gather spatial rotations and angular velocities in a common structure, the obtained notation is general and straight-forward to apply for single and multi-body systems. This paper lays the foundations for incorporating hydrodynamic forces into the moving frame method. The method is applied to 3, 6 and 8 float cases in regular and irregular waves with results compared to the vectorial method and experimental measurements, showing close agreement. It is suggested that this is a more natural and general approach for complex multi-body, multi-hinge hydrodynamics systems.     

潜艇导弹包型线优化设计研究

潜艇导弹包的外形对潜艇各种航行性能都有重要影响,各个国家对潜艇导弹包的外形设计都非常重视。本文以SUBOFF潜艇为母型,首先对导弹包进行参数化,基于CFD技术与iSIGHT优化平台,运用试验设计方法创建计算样本,然后引入响应面技术构造潜体总阻力与导弹包参变量之间的近似函数,并在此基础上采用现代优化算法,以总阻力最小为优化目标寻优,确定最优点设计参数,同时分析了阻力随各设计参数变化的规律。     

Determination of t8/5 cooling times for underwater local dry welding of steel

Knowledge of thermal history is the basic condition for studying the structure - properties of welded joints. The determinant of thermal history is the thermal cycle, whose in-situ measurements are still a big challenge. Water as the welding environment complicates this issue even more. The article presents a method to determine an equation for calculating t_8/5 cooling times for underwater gas metal arc welding of unalloyed steels using the local dry cavity method. The work uses the contact method of temperature measurements with the use of thermocouples to obtain the temperature changes of the points of welded joints covered by the thermal field. On this basis, the values of the t_8/5 cooling times were determined. A regression analysis of the Response Surface Method was used to determine the equation, which resulted in a second-order model with interactions. Statistically significant factors were determined (thickness of welded elements and heat input value) and the model veracity was confirmed as the assumptions of normality and homogeneity of variance (homoscedasticity) of the residuals were met. The t_8/5 cooling time values depend on the thickness of the welded elements and heat input value in a nonlinear way. In terms of the test conditions, the cooling times ranged from 3.0 to 7.7 s. The equation allowed for the calculation of t_8/5 cooling times during underwater welding of unalloyed steels using the local dry cavity method based on the variability of the experimental conditions with satisfactory accuracy.     

卡尔曼滤波法在斜拉桥施工误差控制中的应用

运用工程控制论的思想 ,将斜拉桥的施工误差控制视为一随机最优控制问题 ,建立相应的数学模型 ,采用卡尔曼最优一步预测 ,按确定性的最优控制规律构成团环状态反馈系统 ,对各施工节段进行调整控制 ,以期达到设计要求。