分体式船体设计的水下测绘AUV回转运动的建模和分析（英文）

There is much need for autonomous underwater vehicles(AUVs) for inspection and mapping purposes.Most conventional AUVs use torpedo-shaped single-rigid hull,because of which their manoeuvrability is limited.Moreover,any increase in payload results in a larger hull size and the turning diameter,limiting its operation in constrained areas.As a solution to this problem,we develop M-Hull,a subsurface mapping AUV with a modular-split hull design that provides better manoeuvrability than a conventional torpedo-shaped vehicle.At the same time,it has more agility than an unconventional bio-inspired snake-like vehicle though their designs look similar.This approach makes it a hybrid solution between conventional torpedo-shaped AUVs and unconventional bio-inspired vehicles.We focus on improving the turning diameter during the mapping operation,and hence this paper concentrates on the dynamic aspects of the 2 D turning motion of the vehicle.It will provide the relationship between turning speed,thrust,and joint torque requirements for the multi-hull underwater vehicle.Different turning modes are compared to choose an optimum turning configuration,and the critical speed is calculated for the vehicle's safe operation.In the end,the modelling is verified using the experimental data.One can follow the method followed here for the 2 D motion analysis of similar underwater vehicles.     

载人潜水器耐压球壳的多目标优化设计

采用基于响应面(RSM)近似模型和遗传算法(GA)对某深海载人潜水器耐压球壳进行多目标优化设计。首先建立深海载人潜水器耐压球壳的结构优化模型,通过试验设计(DOE)获得设计目标的响应特性,拟合得到响应面近似模型,最后采用Pareto遗传算法对响应面模型进行多目标优化求解,得到潜水器耐压球壳的优化设计方案。     

船舶水压场畸变试验

舰船航行时在其下方附近产生水压场。这种水压场无法消除，也极难人工模拟。水压水雷就是根据航行舰船的水压场特性而引爆的。从舰船的安全防护角度考虑，可在船体底部加装某种附体，使舰船原有水压场发生改变，从而避免引爆水压水雷。对在船底加装翼板、回转体等附体所造成的舰船水压场畸变进行了试验研究和数值计算。在拖曳水池中进行了船模水压场测量，比较了加装附体前后舰船水压场的特性，据此分析了采用舰船水压场畸变方法防御水压水雷的可行性。比较了加装翼板和回转体的防水压水雷效果。分析了在实船下加装翼板防水压水雷的可能性。     

绿色35,000吨散货船船体线型优化及设计研究

本文针对新一代绿色环保船型研发的需求,在已有性能较为优良的35000吨散货船的基础上,对船体线型作进一步的优化设计。利用势流计算原理及粘性流计算原理分别对船体周围流场特性进行计算分析,结合在船体线型设计方面的经验对原船线型作进一步的改型优化,并通过水池模型快速性试验验证获得了更为优良的船舶线型。经对线型改型优化,既降低了阻力又提高了推进效率,总的节能效果可达9%。说明线型改型优化已取得了较为明显的效果。此外,采用粘性流计算原理进行数值计算应较势流计算原理更为全面合理。特别对原来快速性能已较优良,方形系数CB较大的船型来说,采用粘性流的计算分析法能获得更为合理的结果。     

基于SolidWorks的AUV耐压舱体设计与校核

自主式水下航行器的耐压和密封是非常关键的两方面,基于SolidWorks软件对324型AUV耐压舱体进行了设计与仿真校核。综合考虑薄膜理论和不连续效应,根据NSGA-Ⅱ算法实现多目标优化,确定出直舱和封头的基本尺寸,利用美国海军试验水槽公式和稳定条件进行初步验证,以保证强度和稳定性。根据得出的几何尺寸在SolidWorks里完成三维建模,并在Simulation模块中完成数值模拟仿真,最终对舱体进行实际耐压试验,将结果和理论计算、软件仿真进行对比。针对直舱段舱体不同尺寸和材料进行了三维建模和数值仿真,得出相应结论。     

A parametric study on water-entry of a twin wedge by boundary element method

High speed catamarans are used for pleasure, racing as well as passenger transportations. Optimal design of these crafts requires knowledge of sea loads exerted on their structures. The total load may be estimated by integration of loads exerted on a series of two-dimensional sections along the hull. In order to access the cross-sectional loads, the problem may be simplified to solve the water-entry problem of a twin hull. In this paper, water-entry problem of a twin wedge at constant vertical water-entry speed is studied. The problem is solved in the framework of potential theory using boundary element method where gravity effect on the flow is neglected. A simplified model based on Wagner theory is employed. Free surface elevation and pressure distribution on the body in different deadrise angles have been evaluated. A parametric study has been done to investigate effects of deadrise angle, distance between demi-hulls and free surface elevation on maximum pressure coefficient. Finally, a regression formula for maximum pressure coefficient has been proposed. Results of parametric study reveal that as time advances the interaction between two demi-hull gets more severe, besides the interaction effect on pressure coefficient is nonlinear.     

Estimation of the hydrodynamic coefficients of the complex-shaped autonomous underwater vehicle TUNA-SAND

Hydrodynamic coefficients strongly affect the dynamic performance of autonomous underwater vehicles (AUVs). Thus it is important to have the true values of the coefficients in order to simulate the AUV’s dynamic performance accurately. Although these coefficients can be predicted by many methods, most are only applicable for AUVs with streamlined shapes. Computational fluid dynamics (CFD) can be applied to estimate the hydrodynamic coefficients of AUVs with complex shapes. In this study, CFD was applied to estimate the hydrodynamic coefficients of the AUV TUNA-SAND (which stands for terrain-based underwater navigable AUV for seafloor and natural resources development), which has a complex block-like structure. First, the validity of the CFD simulation was verified by comparison with experimental results. Second, the relationships between hydrodynamic loads and motions for all six degrees of freedom were analyzed using the simulated results. Third, the importance of each hydrodynamic coefficient was investigated based on these relationships. There are 16 key damping coefficients that relate to viscosity and 12 key inertial coefficients that relate to the potential flow around TUNA-SAND. Finally, the values of all the key coefficients were obtained and verified by comparing the solutions of the simulated dynamics with the experimental results.     

Reliability analysis of a bulk carrier in ultimate limit state under combined global and local loads in the hogging and alternate hold loading condition

The alternate hold still-water loading in hogging combined with wave loading is critical for the safe design of bulk carriers. The ultimate longitudinal strength of the hull girder of bulk carriers in this condition has been found to be considerably reduced by the action of local lateral pressure loads. In the present paper, an interaction equation based on the ultimate hull girder strength assessment obtained by nonlinear finite element analyses is adopted to consider the relationship between ultimate longitudinal bending capacity and average external sea pressure over the bottom. This interaction equation is used as the basis for the failure function. The annual probability of failure is obtained by FORM analysis considering two typical load cases, namely, pure longitudinal hogging bending moment and combined global hogging bending moment and local lateral pressure loads. The effect of heavy weather avoidance on the failure probability is evaluated. The results show that the local lateral pressure has a significant influence on the annual probability of failure of bulk carriers in the hogging and alternate hold loading condition.     

水下滑翔机器人水动力研究与运动分析

水下滑翔机器人是一种无外挂推进系统,仅依靠内置执行机构调整重心位置和净浮力来控制其自身运动的新型水下机器人,主要用于长时间、大范围的海洋环境监测,因此要求其具有低阻性和高稳定性.文章主要从水动力特性出发对水下滑翔机器人进行优化设计,包括主载体线型、升降翼和稳定翼的优化等,并对水动力优化设计的结构进行了定常滑翔运动和空间螺旋回转运动分析,这将为后期的控制系统设计提供参考.     

Noncontact power supply for seafloor geodetic observing robot system

A new and effective seafloor geodetic observing robot network system, which consists of several submarine stations situated in regions susceptible to interplate earthquakes, has been proposed and is under construction in Japan. Each station, equipped with an autonomous underwater vehicle (AUV) dock, is connected to a land facility by cables providing power and communication. Near the AUV dock, three or four seafloor reference stations will be set up for geodetic observations. In this system, a noncontact power supply is required for a battery-driven AUV to conduct observations for extended durations. A small, intelligent, efficient, high-power noncontact feed system of 400 W capacity with an inverting efficiency of 77% in salt water has been developed. It has been shown to be effective in a water tank experiment in which the noncontact power supply automatically fed power to an AUV for 3 days.     

基于船体梁的船体弹性变形预报方法

将船体简化成一根两端完全自由、质量和刚度沿船长方向分布不均匀的变截面梁,采用迁移矩阵法算出船体梁的固有频率和振形;将三维势流理论和结构动力学方程相结合,求出船体振动的主坐标,再利用模态叠加原理得到计算点的幅频位移响应;利用谱分析方法计算不同工况时的船体变形,并根据雷利分布得到其统计值。以某船为例,利用该方法计算船体相对变形,并对结果进行分析,得到了船体变形随着航速大小和浪向角改变的规律。     

空泡螺旋桨诱导的船体脉动压力预报

本文用空泡预报的结果,在桨叶面和尾涡面布置强度已知的源汇和偶极子,计算了空泡螺旋桨诱导的脉动压力.真实的船体表面形状可以通过在船体表面布置偶极子来考虑,求得船体表面的偶极子强度后,通过Bernoulli方程可得到船体表面的脉动压力.为了便于同已有的试验数据进行比较,本文计算了空泡螺旋桨诱导的平板脉动压力.     

船体曲线曲面的B样条光顺

根据给定的船体型值点，以三次非均匀B样条为光顺函数，采用整体光顺方法，以应变能最小、曲率变化均匀为准则，以控制点为未知量，建立最优化问题的约束方程并求解，实现船体曲线的光顺。根据曲线的相对曲率线图，将优化后的光顺B样条船体曲线与插值B样条曲线、传统最小二乘法逼近曲线进行了比较。构[循规蹈矩本曲面，以UV方向上的单参数曲线族或站线、水线、纵剖线方向的截面曲线族为研究对象，以曲线族的应变能之和最小为准则，进行光顺处理，最后，以NURBS为统一数学表达式，根据光顺后得到的控制点网络，应用双三次非均匀有理B样条得到光顺的船体曲面。     

Hydro- and aerodynamic analysis for the design of a sailing yacht

The results of the design analysis for a sailing yacht’s hull and sails are reported. The results were used to confirm the design of a 30 ft long sloop, which was planned, designed, and built in Korea for the first time in history. Flows around a sailing yacht above and under the free surface were analyzed separately using both computational and experimental methods. For the underwater flow analysis, turbulent flow simulations with and without free surface wave effects were carried out for the canoe hull with keel/rudder. The computed drag and side forces on the hull model were compared with the measurement data obtained from the towing tank experiments. In order to assess the sail performance, another set of computations was carried out for the flow around a sail system composed of main and jib sails with a mast. The present study demonstrates that, for the design analysis of a sailing yacht, computational fluid dynamics techniques can be utilized with a reasonable level of confidence.     

Free and forced vibration analyses of ship structures using the finite element method

With increases in ship size and speed, shipboard vibration becomes a significant concern in the design and construction of vessels. Excessive ship vibration is to be avoided for passenger comfort and crew habitability. In addition to the undesired effects on humans, excessive ship vibration may result in the fatigue failure of local structural members or malfunctioning of machinery and equipment. The propeller induces fluctuating pressure on the surface of the hull, which induces vibration in the hull structure. These pressure pulses acting on the ship hull surface above the propeller are the predominant factor for vibrations of ship structures are taken as excitation forces for forced vibration analysis. Ship structures are complex and may be analyzed after idealization of the structure. Several simplifying assumptions are made in the finite element idealization of the hull structure. In this study, a three-dimensional finite element model representing the entire ship hull, including the deckhouse and machinery propulsion system, has been developed using solid modeling software for local and global vibration analyses. Vibration analyses have been conducted under two conditions: free–free (dry) and in-water (wet). The wet analysis has been implemented using acoustic elements. The total damping associated with overall ship hull structure vibration has been considered as a combination of the several damping components. As a result of the global ship free vibration analysis, global natural frequencies and mode shapes have been determined. Moreover, the responses of local ship structures have been determined as a result of the propeller-induced forced vibration analysis.     

Experimental and numerical study of containership responses in severe head seas

An accurate determination of the global load effects in a ship is vital for the design of the vessel. This paper addresses an experimental and numerical study of containership responses in severe head seas. Experimental results were obtained using a flexible model of a containership of newer design. The experiments showed that, taking hull flexibility into account, the fourth and sixth harmonic of the vertical bending moments had a maximum value of between 25% and 50% of the first harmonic. We also demonstrated that hull flexibility can increase the vertical bending moment by up to 35% in sea states relevant for design. Comparisons of moments found experimentally with results from a nonlinear hydroelastic strip theory method showed that the effect of nonlinearities on the rigid body moments was slightly over-predicted in the aft body. The method also tends to over-predict the increase of the bending moments due to hull flexibility. In general however, the numerical results compared reasonably well with the experimental ones.     

实肋板式耐压液舱结构计算方法研究

应用弹性力学经典理论和求解环肋柱壳的传统方法,将耐压液舱结构的几种结构形式综合成统一的力学模型,进行整体求解,获得各应力解析表达式;提出了液舱区耐压船体壳板极限承载能力及波舱壳板失稳压力的计算方法。力学模型清晰合理,求解简便,计算结果符合实际,可应用于工程设计。     

扭矩平衡式水下机器人推进器研究

某些水下机器人横向尺度较小,往往与其主推螺旋桨直径处于同一量级;螺旋桨旋转所带来的扭矩会使机器人产生明显的横倾;所以,在水下机器人的推进器设计过程中就必须考虑保持机器人的纵向稳定性.该文就此问题提出了一种集成式扭矩平衡推进器,该推进器利用与保护导管相连的后置定子产生反扭矩来平衡螺旋桨旋转产生的扭矩,导管、导管支架、定子与驱动主机集成为一体,推进器整体无扭矩输出,通用性强.此后给出了推进器的理论设计方法及过程,应用面元法理论对所设计推进器进行了水动力性能计算分析.最后讨论了定子各参数对推进器性能的影响.     

开发水下机器人控制器的MDA/MBSE方法的实用专业化研究（英文）

The model-driven architecture(MDA)/model-based systems engineering(MBSE) approach, in combination with the real-time Unified Modeling Language(UML)/Systems Modeling Language(SysML), unscented Kalman filter(UKF) algorithm, and hybrid automata, are specialized to conveniently analyze, design, and implement controllers of autonomous underwater vehicles(AUVs). The dynamics and control structure of AUVs are adapted and integrated with the specialized features of the MDA/MBSE approach as follows. The computation-independent model is defined by the specification of a use case model together with the UKF algorithm and hybrid automata and is used in intensive requirement analysis. The platform-independent model(PIM) is then built by specializing the real-time UML/SysML's features, such as the main control capsules and their dynamic evolutions, which reflect the structures and behaviors of controllers. The detailed PIM is subsequently converted into the platform-specific model by using open-source platforms to quickly implement and deploy AUV controllers. The study ends with a trial trip and deployment results for a planar trajectory-tracking controller of a miniature AUV with a torpedo shape.