Nonlinear control for autonomous underwater glider motion based on inverse system method

Autonomous underwater gliders are highly efficient, buoyancy-driven, winged autonomous underwater vehicles. Their dynamics are multivariable nonlinear systems. In addition, the gliders are underactuated and difficult to maneuver, and also dependent on their operational environment. To confront these problems and to design an effective controller, the inverse system method was used to decouple the original system into two independent single variable linear subsystems. The stability of the zero dynamics was analyzed, and an additional closed-loop controller for each linear subsystem was designed by sliding mode control method to form a type of composite controller. Simulation results demonstrate that the derived nonlinear controller is able to cope with the aforementioned problems simultaneously and satisfactorily.     

Shafting alignment based on hydrodynamics simulation under larger rudder corner conditions

With the rudder angles getting larger and larger, the moment and force on propeller shafts, which are caused by complex flowing field, become more and more. They influence the shafting alignment greatly. Stress analysis of propeller shafts has been done under increasing rudder corner conditions with complex hydrodynamics simulation for a great domestic liquified natural gas (LNG) vessel, which is with dual propulsion systems. The improved three-moment equation is adopted in the process of dual propulsive shafting alignment. The calculated results show that the propeller hydrodynamic characteristics, which affect dual propulsive shafting alignment greatly, must be considered under large rudder angle conditions. Shafting accidents of Korean LNG vessels are interpreted reasonably. At the same time, salutary lessons and references are afforded to the marine multi-propulsion shafting alignment in the future.     

泡沫沥青路面冷再生新技术

应用泡沫沥青作为沥青路面再生结构层的新型粘结剂 ,是近年来广泛应用于路面冷再生的新技术。文中对泡沫沥青的特性和冷再生新技术进行了综合分析。     

低应力拖缆瞬态动力学分析与实验研究(英文)

文章进行了低应力拖缆瞬态动力学的数值分析与实验研究。在低应力拖缆的建模中,包括了几何,流体的非线性和弯曲刚度。在数值分析中,广义α时域积分法用于求解低应力拖缆的三维动力学方程。为了验证数值分析的结果,观察实际的物理现象,进行了拖曳实验。测量了低应力拖缆顶端处的张力,剪切力和拖曳过程的速度变化。稳态拖曳速度下张力和剪切力的波动及其 FFT 变换证明了涡激振动现象的存在。在瞬态过程中,对于稳态拖曳速度为 1.01,1.5 m/s情况,无论张力还是剪切力都存在一个明显过冲区域,但是这一现象在稳态速度为 0.55 m/s 时并不明显。定常系数法和变系数法被用于瞬态动力学的仿真分析,分析结果表明变系数法与实验结果具有较好的一致性。     

船舶轴系动态校中轴承油膜的影响计算

轴系校中状态好坏直接影响船舶推进系统的正常运行,而影响轴系校中的动态因素很多,其中轴承油膜是一项重要的影响因素.通过数值分析方法解径向轴承雷诺方程,得到索莫菲尔德数及轴心偏位角与轴承宽径比B/D及轴心偏心率ε之间的关系.利用ANSYS及MATLAB计算软件,分析了桨浸水状态对轴系各轴承负荷的影响,得到了轴承偏心率ε及偏位角β与轴转速n的关系,轴承处轴颈垂直方向及水平方向偏心随转速变化的规律,以及油膜对各轴承负荷的影响.     

柴油机谐振系统的优化和瞬态过程仿真

为了选择合适尺寸的柴油机谐振系统,本文采用了计算机模拟和优化的方法。它比以往的声学公式估算、压力波计算和实机试验的综合方法远为方便、有效。 模拟计算采用特征线法和容积法混合的算法。优化计算采用了将多约束问题转化为单个约束的可变容差法,优化变量是谐振系统的四个主要结构尺寸。 在试验台上进行了稳态工况和过渡工况的实机试验,证明了这种方法的可靠性。     

Robust intelligent control design for marine diesel engine

This work deals with the nonlinear control of a marine diesel engine by use of a robust intelligent control strategy based on cerebellar model articulation controller （CMAC）. A mathematical model of diesel engine propulsion system is presented. In order to increase the accuracy of dynamical speed, the mathematical model of engagement process based on the law of energy conservation is proposed. Then, a robust cerebellar model articulation controller is proposed for uncertain nonlinear systems. The concept of active disturbance rejection control （ADRC） is adopted so that the proposed controller has more robustness against uncertainties. Finally, the proposed controller is applied to engine speed control system. Both the model of the diesel engine propulsion system and of the control law are validated by a virtual detailed simulation environment. The prediction capability of the model and the control efficiency are clearly shown.     

ZNF804A基因遗传多态性在精神分裂症患者核心家系中的传递不平衡检验

目的研究ZNF804A基因中的单核苷酸多态性位点(single nucleotide polymorphisms,SNPs)和精神分裂症(schizophrenia)之间的相关性。方法在中国汉族人群的88个精神分裂症患者核心家系中,采用等位基因特异性PCR的方法对ZNF804A基因中的2个SNPs位点(rs4666998和rs56280129)进行基因分型和传递不平衡检验(transmission disequilibrium test,TDT)。结果遗传标记rs4666998的传递差异具有统计学意义(P<0.05)。此外,对两个SNPs构建的单倍型分析表明,单倍型rs4666998-rs56280129在双亲向患病子女的传递中显示出明显的传递不平衡趋势。结论 ZNF804A基因与中国汉族人群中精神分裂症的遗传易感性密切相关。有必要使用更多的研究样本进行验证,同时开展对ZNF804A基因功能的研究。