Artificial forces for virtual autonomous ships with encountering situations in restricted waters

ABSTRACT

Even if the same two ships operate in the same encountering situation, the actual strategies and timing of operations may be different. Therefore, the fixed collision avoidance trajectory and ship movements are no longer suitable for simulating the real ship behaviour. This paper tries to develop an artificial intelligent system that fully sensitive to the local circumstances and command a ship in virtual environment. Based on AIS (Automatic Identification System) data, this study has developed artificial forces which help decision makings on-board independently under different situations and catching the stochastic nature of ship behaviours during collision avoidances manoeuvring. Actual ship tracks are helpful for ascertaining the parameters that contribute to artificial forces in collision avoidances, while the correlation coefficient analysis is helpful to distinguish the parameters. This study will help to develop a navigation traffic simulation to reflect the realistic ship behaviour and provide reliable information for port and waterway planning, risk analysis, and mitigation measures. The method can be used in developing algorithms for autonomous ships. The method introduced in this study lays a foundation for developing artificial forces at intersections or bends, although the model is only applicable in straight channels at the moment.     

FPSO内孤立波载荷实验观测及理论预报模型研究

利用大型密度分层水槽开展了下凹型内孤立波作用在FPSO上的载荷特性系列实验;并依据实验工况,考虑KdV、eKdV和MCC内孤立波理论的适用性条件,数值研究了FPSO内孤立波载荷成分构成;基于实验结果和载荷成分构成,建立了FPSO内孤立波载荷的理论预报模型.研究表明:FPSO内孤立波水平载荷由粘性力和Froude-Krylov力组成,而垂向载荷主要为垂向Froude-Krylov力;Froude-Krylov力可通过动压力沿FPSO浮体湿表面积分得到,粘性力则通过经实验回归的摩擦系数Cf、形状修正因数K乘以内孤立波诱导水质点切向速度沿FPSO浮体湿表面积分得到.系列实验结果得出:摩擦系数Cf和形状修正因数K与雷诺数Re、KC数和流体层深度比h1/h有关;摩擦系数与Re呈自然对数关系;而形状修正因数K与KC数呈幂函数关系.理论预报模型预报的水平载荷、垂向载荷结果均与系列实验和数值结果吻合较好,并且发现随着内孤立波振幅的增加,载荷幅值近乎线性增加,而且上层流体深度对水平力幅值有明显的影响.     

株洲二线船闸深基坑双排桩结构的受力特性

对株洲航电枢纽二线船闸高挡土环境中的双排桩结构变形及内力特征,采用数值计算和工程观测相结合的方法,分析不同桩径、不同开挖深度时结构的变形及受力形态。结果表明:双排桩排距取3倍桩径时,不同开挖深度的前排桩最大位移值呈现二次抛物线形态;前排桩内力呈现单锚板桩的受力特征,后排桩内力呈现悬臂板桩的受力特征;通过设置卸荷板、采用抗剪强度大的材料回填可有效控制结构变形及内力。     

肥大型船模操纵性水动力CFD预报的试验验证分析

肥大型船操纵性水动力的预报不仅是肥大型船操纵性设计多方案选型及优化的基础,而且是水面船操纵性水动力预报中的难点.文章探讨了CFD在肥大型船操纵性水动力预报方面的应用能力和预报精度,并进行了系列模型的CFD计算与验证分析,结果表明所建立的肥大型船操纵性水动力CFD数值预报方法具有良好的精度和普适性.     

数值波浪水池及顶浪中船舶水动力计算

基于粘流理论建立了三维数值波浪水池,模拟了非线性波浪,并对规则波顶浪中前进的拘束船模的水动力进行了计算.数值模拟中,控制方程-RANS方程和连续性方程使用有限体积法离散,非线性自由面采用VOF方法处理;在入口边界模拟柔性造波板运动产生入射波,使用位于波浪水池尾部的人工阻尼区消波.给出了非线性规则波的模拟结果以及规则波顶浪中前进的拘束船模的水动力计算结果,并与理论解及DUT(Delfi University of Technology)的试验数据进行了比较,二者吻合良好.     

规则迎浪中船舶参数横摇的三维时域预报方法研究

参数横摇是船舶因复原特性改变而引起的典型非线性现象。文章采用三维时域方法预报规则迎浪中船舶的参数横摇运动。该方法引入匹配面将流域分为内域和外域,内域中采用Rankine源来满足物面条件和线性自由面条件,而外域中应用时域格林函数来满足线性自由面条件和远场辐射条件。数值方法中,Froude-Krylov力和恢复力是通过对船舶瞬时湿表面积积分获得,同时考虑了横摇、垂荡和纵摇三自由度之间的耦合作用,以及非线性横摇阻尼的影响。数值结果与试验结果吻合很好,说明该方法可以有效地预报参数横摇。     

A theoretical model of speed-dependent steering torque for rolling tyres

ABSTRACT

It is well known that the tyre steering torque is highly dependent on the tyre rolling speed. In limited cases, i.e. parking manoeuvre, the steering torque approaches the maximum. With the increasing tyre speed, the steering torque decreased rapidly. Accurate modelling of the speed-dependent behaviour for the tyre steering torque is a key factor to calibrate the electric power steering (EPS) system and tune the handling performance of vehicles. However, no satisfactory theoretical model can be found in the existing literature to explain this phenomenon. This paper proposes a new theoretical framework to model this important tyre behaviour, which includes three key factors: (1) tyre three-dimensional transient rolling kinematics with turn-slip; (2) dynamical force and moment generation; and (3) the mixed Lagrange–Euler method for contact deformation solving. A nonlinear finite-element code has been developed to implement the proposed approach. It can be found that the main mechanism for the speed-dependent steering torque is due to turn-slip-related kinematics. This paper provides a theory to explain the complex mechanism of the tyre steering torque generation, which helps to understand the speed-dependent tyre steering torque, tyre road feeling and EPS calibration.     

沉箱孤立墩式结构整体稳定性一般规律

大型原油码头多采用墩式蝶型布置,一般情况下波浪作用是控制沉箱墩式结构整体稳定性的主要外荷载。作为设计波要素,通常选取最大波高及其对应的波周期或最大波周期及其对应的波高进行结构计算,但经多组波要素对比计算表明,并非最大波高或最大波周期为控制工况。参考数模分析群桩系数随波周期变化的成果,研究了作用于小尺度墩柱上的波浪作用随波周期和波高的变化以及沉箱孤立墩式结构整体稳定性的一般规律。     

江海直达顶推船组波浪联结力的影响要素研究

江海直达顶推运输方式是实现江海直达运输的有效途径之一.波浪联结力的影响要素研究是与顶推船组的耐波性能密切相关的关键技术之一.文中借鉴收集的船模试验数据,构建波浪联结力与主要影响要素之间的非线性模型,采用非线性的神经网络方法对波浪联结力的主要影响要素进行比较研究.     

深基坑工程中膨胀力设计取值分析

目前我国现行工程规范并未对膨胀土（岩）中深基坑工程的膨胀力设计取值给以明确规定,实际设计过程中膨胀力取值方法不一。以成都地铁3号线一期工程膨胀土（岩）范围明挖区间深基坑工程为例,对不同取值情况下设计结果与施工现场实测数据进行对比分析,找出实测值与理论计算值的对应关系,对于既能保证围护结构安全性又兼顾经济性的膨胀力设计值的选用具有较强的指导意义。