带扰动观测器的船舶轨迹跟踪自适应动态面滑模控制

针对遭受未知外部环境扰动的三自由度全驱动船舶轨迹跟踪控制问题,设计一种带扰动观测器的自适应动态面滑模控制方法。该方法构造扰动观测器估计未知扰动,并对控制量进行前馈补偿,采用σ修正泄漏项的自适应律估计扰动观测误差的界以提高控制精度,结合动态面技术解决传统反演法的微分爆炸问题,并选取李雅普诺夫函数证明该控制器可保证闭环系统内所有信号的一致最终有界性。基于一艘供给船舶进行仿真试验,结果表明,所设计的控制器输出合理有效且跟踪精度高,在工程实际中具有一定的参考价值。     

Full six degrees of freedom coupled dynamic simulation of ship collision and grounding accidents

By taking advantage of the user-defined load subroutine (loadud) and the user common subroutine (usercomm) in LS-DYNA, the authors proposed a new coupled approach for simultaneously calculating structural damage and the planar 3DOF ship motions in ship collisions. The coupled procedure aimed at predicting the detailed structural damage together with reasonable global ship motions. This paper extends the method to consider the full 6DOF ship motions; thus, ship collision as well as grounding accidents can be properly handled. This method is particularly useful for design purposes because the detailed ship hull profile is not needed.A traditional ship maneuvering model is used for the in-plane surge, sway and yaw degrees of freedom with a series of nondimensional coefficients determined from experiments. It is assumed that the out-of-plane degrees of freedom are not coupled with the in-plane ship motions, and there is no coupling among roll, pitch and heave motions. The implementation is verified through free decay tests, and the obtained natural periods show good agreement with theoretical results.Several collision and grounding cases are simulated in which a supply vessel crashes into rigid plates with different orientations. The effects of the roll motion, the heave and pitch motions and the full 6DOF motions are studied. The results are compared with those from a 6DOF decoupled method. Ship motions through the proposed method compare reasonably well with SIMO results. It is found that several consecutive impacts may occur in the simulation of one collision case due to the periodic motions. This is not taken into account in the decoupled method, which makes this method unconservative.     

试论船舶电气图纸审查的基本方法与注意要点

文章根据船舶电气图纸审查工作经验对船舶电气图纸审查的目的和意义、审查依据、送审图纸目录、审查要求等内容进行了归纳与总结,介绍了电气图纸审查的基本方法与注意要点,提出图纸审查过程中应注意的几个问题。     

舰船电力系统保护性能优化的自适应算法

为满足舰船电力系统保护在快速性和选择性方面的要求,提出保护性能优化模型,根据电力系统的运行方式、拓扑结构和故障类型的变化,实时在线计算并修改保护整定值的自适应保护方法。将快速性和选择性指标作为保护性能综合指标的基本元素,采用模拟退火粒子群算法进行优化,最终实现不同运行工况下保护性能最优的整定值自适应调整。并在PSCAD/EMTDC软件中建立包含自适应保护算法的舰船电力系统保护仿真模型,仿真结果证明所提方法可有效提高系统保护性能。     

考虑外环境影响的船舶操纵模拟自动舵系统

自动舵系统是建立船舶操纵离线模拟模型所要解决的关键因素之一，本文给出了一种船舶操纵模拟自动舵系统，该系统可以对船舶出入港时受到的复杂载荷，如风，浪，流，限制性航道等做出合理反应，可以应用于船舶出入港操纵运动的离线模拟中。     

舰船操纵性响应方程几个问题的探讨

研究了舰船操纵性响应方程应用中如何提高高速舰船操纵性计算精度,及速度方程参数计算和Ｋ、Ｔ指数的变化规律,并给出了可资实用的结论。     

船舶气囊下水工艺实践与发展前景

本文叙述船舶气囊下水新工艺在我国内河中、小型船厂近年来的实践，提出和总结气囊下水工艺有关计算方法和注意事项。鉴于气囊下水新工艺有其独特的优越性，并随着气囊制造质量和下水工艺不断完善提高，气囊下水新工艺必会有较好的发展前景，下水船舶重量期望可提高到2000t。     

CJBW10舰船微机监控报警系统

介绍一种新型的舰船用微机监控报警系统，该系统采用先进的微机网络技术和单片机技术，将高分辩率彩色ＣＲＴ测点参数和图形显示功能，报警灯板板功能和记录打印功能以及控制功能集于一块单板上，并通过网络与测量单元相闻，既可在网络型船舶自动化系统中作这联网的机舱监控报     

自主水下航行器制导系统的设计

简要介绍了某小型远程自主水下航行器制导系统的设计要求和软硬件实现方法,该制导系统已成功应用于211工程建设的自主水下航行器上。     

小水线面双体船结构优化

本文对小水线面双体船结构优化设计方法进行了研究。以-570t外倾式小水线面双体船为结构优化对象,根据劳氏船级社特种船舶入级规范中的有关要求作为其约束条件,利用混合离散变量优化方法(MDOD法)对该船进行了结构优化设计。