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。     

Evaluation of added resistance in regular incident waves by computational fluid dynamics motion simulation using an overlapping grid system

A computational fluid dynamics simulation method called WISDAM-X was developed to evaluate the added resistance of ships in waves. The Reynolds-averaged Navier–Stokes (RANS) equation was solved by the finite-volume method and a MAC-type solution algorithm. An overlapping grid system was employed to implement rigorous wave generation, the interactions of ships with incident waves, and the resultant ship motions. The motion of the ship is simultaneously solved by combining the solution of the motion of the ship with the solution of the flow about the ship. The free surface is captured by treatment by the density-function method. The accuracy of WISDAM-X is examined by a comparison with experimental data from a container carrier hull form, and shows a fairly good agreement with respect to ship motion and added resistance. Simulations were also conducted for a bow-form series of a medium-speed tanker to examine the effectiveness of the WISDAM-X method as a design tool for a hull form with a smaller resistance in waves. It was confirmed that the WISDAM-X method can evaluate the added resistance with sufficient relative accuracy and can be used as a design tool for ships.     

平面斜交联络通道水平冻结及实测分析

为解决常州地铁1号线翠竹站-常州火车站区间隧道联络通道因预留钢管片错环造成联络通道平面斜交的问题,采用Z字 型联络通道结构方案及平面斜交联络通道冻结加固方案,对冻结全过程进行温度与变形实测,分析其冻结温度场发展规律以及因 冻胀引起的地表位移变化规律。 得出以下结论: 1)因加强冻结孔的加强作用,其变化规律与常规直交联络通道有所区别; 2)下行 线左侧外侧测温孔外部测点降温速率比内部测点快,而内侧测温孔内部测点降温速率比外部测点快,下行线右侧恰好相反; 3)下 行线左、右侧测温孔开挖时温度回升的测点分别为外部测点与内部测点; 4)联络通道地表隆起最大值分布线亦倾斜,其最大倾角 约为36.2°,与联络通道倾角相近。     

A combined use of phase plane and handling diagram method to study the influence of tyre and vehicle characteristics on stability

This paper deals with in-curve vehicle lateral behaviour and is aimed to find out which vehicle physical characteristics affect significantly its stability. Two different analytical methods, one numerical (phase plane) and the other graphical (handling diagram) are discussed. The numerical model refers to the complete quadricycle, while the graphical one refers to a bicycle model. Both models take into account lateral load transfers and nonlinear Pacejka tyre–road interactions. The influence of centre of mass longitudinal position, tyre cornering stiffness and front/rear roll stiffness ratio on vehicle stability are analysed. The presented results are in good agreement with theoretical expectations about the above parameters influence, and show how some physical characteristics behave as saddle-node bifurcation parameters.     

基于Matlab的客车内摆门运动特性分析

建立客车内摆门的机构运动模型并推导出运动公式,运用Matlab软件得出内摆门滑槽滚轮中心的运动特性曲线,分析门滑槽及门内置铰链在不同位置对滚轮运动情况的影响。     

Flow-field guided steering control for rigid autonomous ground vehicles in low-speed manoeuvring

ABSTRACT

This paper studies the low-speed manoeuvring problem for autono-mous ground vehicles operating in complex static environments. Making use of the intrinsic property of a fluid to naturally find its way to an outflow destination, a novel guidance method is proposed. In this approach, a reference flow field is calculated numerically through Computational Fluid Dynamics, based on which both the reference path topology and the steering reference to achieve the path are derived in a single process. Steering control considers three constraints: obstacle and boundary avoidance, rigidity of the vehicle, plus the non-holonomic velocity constraints due to the steering system. The influences of the parameters used during the flow field simulation and the control algorithm are discussed through numerical cases. A divergency field is defined to evaluate the quality of the flow field in guiding the vehicle. This is used to identify any problematic branching features of the flow, and control is adapted in the neighbourhood of such branching features to resolve possible ambiguities in the control reference. Results demonstrate the effectiveness of the method in finding smooth and feasible motion paths, even in complex environments.     

一种固定翼飞机的航迹仿真

研究了基于飞机运动方程的固定翼飞机航迹仿真方法,利用飞行器的运动方程进行固定翼飞机航迹模拟,建立飞机运动仿真模型算法,然后用MATLAB程序实现飞机航迹仿真,并对直线航迹和跑道型航迹进行了算法分析,最后将仿真航迹与真实航迹比对.     

基于遗传算法的潜艇首端耐压平面舱壁构架分级优化研究

探讨了潜艇首端耐压平面舱壁的结构优化设计,针对舱壁结构复杂、设计变量多、取值离散规格化等难点,确定两级优化方案,即先后分别对舱壁内部主构架和肘板进行优化,采用遗传算法作为优化方法,并利用ANSYS程序对舱壁结构进行受力分析.对遗传算法进行了改进,并在此基础上用MATLAB语言编程实现遗传算法操作,同时编程与ANSYS结合起来,完成结构优化设计.经过迭代优化,得到一个优化方案,优化部分的结构重量较初始方案降低了18.39%.     

卡尔曼滤波在潜艇垂直面运动控制器设计中的应用

潜艇低噪声操纵存在无效用舵现象。简要介绍了滤波信号的表示形式，在潜艇垂直面线性运动方程的基础上，得出了滤波信号的系统模型，并对其进行了离散化处理；将均方差最小线性递推滤波算法引入到输入信号的控制过程中，通过仿真证明对输入信号进行卡尔曼滤波能够提高输入信号的品质，用于工程应用。     

Towards comfort-optimal trajectory planning and control

ABSTRACT

This paper describes a method to analyse and evaluate different trajectory planning methods and controller types for usage in automated vehicles. Its application is shown by using a novel trajectory planning approach considering comfort aspects (based on Rapidly Exploring Random Tree (RRT)), two different controllers to follow the planned path (cascade controller and flatness based controller) and a simulation method to obtain resulting lateral vehicle accelerations. The method is used to plan and drive a trajectory through a roundabout. It can be seen that the lateral accelerations of the controller-driven vehicle are in the range of the values used for planning. However, the results of both controllers show differences in lateral deviation and in smoothness of lateral accelerations. The simulation results are then compared to real-world test drives in the same roundabout. The measured lateral accelerations are in the same range as well but show a smoother progression than the two controller models.