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基于渐消记忆自适应滤波的船舶动力定位算法仿真 总被引:1,自引:0,他引:1
由于船舶在海上运动的复杂性和非线性,精确的船舶动力定位系统数学模型难以建立.为了实现有效的动力定位控制,需要应用一定的状态估计滤波算法得到所需的船舶运动低频信号.采用常规的Kalman滤波,状态变量的新测量值对预测值的修正作用下降,旧测量值的影响随着计算步数的累积而相对提高,这是引起滤波发散的主要原因之一.文章针对船舶动力定位系统中使用常规的Kalman滤波而存在的模型不精确、 不能准确表达系统噪声和测量噪声等问题,采用渐消记忆自适应滤波估算低频运动信息,在状态估计算法中引入渐消记忆因子,减小旧测量值对状态估计值的影响权重,从而增大新测量值的作用;并根据滤波发散判断准则,选择适当的渐消记忆因子值来抑制滤波器的发散,使控制器输出较为平稳,从而降低推力系统不必要的能耗.仿真实验表明,所设计的自适应滤波器的收敛性、跟踪性优于常规的Kalman滤波,有效地提高了系统的定位精度和稳定性. 相似文献
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邹早建 《武汉理工大学学报(交通科学与工程版)》1996,20(6):641-648
介绍了一处计算穿透自由在垂直平板横这运动水动力的三维Rankine面元法,采用在平板平均上及其尾流中的涡强谐变的涡分布,同时,彩在围绕平板的自由面上 强谐变的源分布以计人自由面影响,将所介绍的方法应用于小展弦比垂直平板,给出了计算结果并对结果进行了讨论。 相似文献
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为了提高桥梁与桥区通航船舶的安全性,提出了一种船撞桥概率智能预测方法.以桥墩跨径、水流速度、水流方向与桥墩连线法线方向夹角以及航道弯曲度为系统输入,以单航次船撞桥事故率为系统输出,应用最小二乘支持向量机进行了船撞桥概率估算.结合实际航道,选择了长江和黑龙江上12座桥梁的洪水期、中水期和枯水期3个时段的样本数据进行验算,并与神经网络船撞桥概率估算结果进行对比.对比结果表明:支持向量机方法能准确地预报船撞桥概率,具有全局最优解,并且收敛性和学习效率均优于神经网络. 相似文献
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In order to generate the three-dimensional (3-D) hull surface accurately and smoothly, a mixed method which is made up of non-uniform B-spline together with an iterative procedure was developed. By using the iterative method the data points on each section curve are calculated and the generalized waterlines and transverse section curves are determined. Then using the non-uniform B-spline expression, the control vertex net of the hull is calculated based on the generalized waterlines and section curves. A ship with tunnel stern was taken as test case. The numerical results prove that the proposed approach for geometry modeling of 3-D ship hull surface is accurate and effective. 相似文献
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基于NURBS的船舶型线设计程序EHULL 总被引:4,自引:0,他引:4
以非均匀有理B样条NURBS为基础,通过交互式手段实现船舶型线的三维动态设计和实体造型,程序具有升阶、分割、节点去除等功能,可以计算曲面的高斯曲率、获得各种剖面的形状和线型图、肋骨型线图;可生成各种二次曲面、计算船舶静水力。 相似文献
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A three-dimensional high-order panel method based on non-uniform rational B-spline (NURBS) is developed for predicting the hydrodynamic interaction forces on a moored ship induced by a passing ship in shallow water. An NURBS surface is used to precisely represent the hull geometry. Velocity potential on the hull surface is described by B-spline after the source density distribution on the boundary surface is determined. A collocation approach is applied to the boundary integral equation discretization. Under the assumption of low passing speed, the effect of free surface elevation is neglected in the numerical calculation, and infinite image method is used to deal with the finite water depth effect. The time stepping method is used to solve the velocity potential at each time step. Detailed convergence study with respect to time step, panel size and Green function is undertaken. The present results of hydrodynamic forces are compared with those obtained by slender-body theory to show the validity of the proposed numerical method. Calculations are conducted for different water depths and lateral distances between ships, and the detail results are presented to demonstrate the effects of these factors. 相似文献
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小水线面双体船粘性流数值模拟 总被引:2,自引:0,他引:2
利用商业软件FLUENT对一小水线面双体船(SWATH)的粘性绕流进行数值模拟,得到了不同航速下的三维粘性流场和粘性阻力,通过对计算结果的分析、比较,验证了FLUENT用于预报小水线面双体船粘性阻力和伴流分布的有效性和实用性。 相似文献
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利用浅水有限航速下操纵船体的水动力计算方法计算了大阪号油轮的操纵运动线性水动力导数,将计算结果与试验结果进行了比较,结果是令人满意的。 相似文献