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《舰船科学技术》2016,(Z1)
The frequent change in ice drift direction poses a significant challenge for turret moored ship in ice. Variability in ice drift is mainly caused by the winds and currents. To solve this problem, a new method with numerical simulation based on heading control is applied to reduce the risk of operation of The Arctic Tandem Offloading Terminal(ATOT),which includes an offloading icebreaker(OIB) moored to a submerged turret and a shuttle tanker moored at the stern of the OIB in this paper. An icebreaking tanker, MT Uikku, was modeled in a simulation program. Then the level ice load on the tanker was calculated with different ice thicknesses and drift speeds, after which a heading controller assisted with mooring system is used to simulate the horizontal motion of the tanker under the ice action. 相似文献
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系泊船舶在不规则波中慢漂振荡的马尔可夫模型 总被引:1,自引:0,他引:1
一艘在非高斯慢漂波浪力激励下的系泊船舶的响应被用一个连续的马尔可夫过程来建模.提出了一个数值路径积分解法来计算该艘船舶的响应统计.该数值路径积分法是基于Gauss-Legendre插值方案,响应概率密度值是在子区间内的高斯分点上获得的.显示该数值路径积分解法有独特的能力在很低概率水平时生成精确解,这在系统可靠性分析时有重要意义. 相似文献
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本文针对中国新型极地考察船所受冰载荷进行了研究,其中包含了平整冰阻力和浮冰碰撞力.对于船舶设计者和建造者来说,船舶冰载荷的预估非常重要.本文采用经验公式方法计算了该船在平整冰中航行的冰阻力,并且与模型试验结果进行了对比.结果显示,计算和试验结果中的冰阻力都随船舶航行速度的增大而增大,经验公式方法可以预测出合理的平整冰阻力.通过计算得到了该船的性能曲线,即该船在不同厚度平整冰中航行所能达到的速度.此外,本文还考虑了该船与圆形浮冰之间的三维斜向碰撞问题,采用解析方法评估了浮冰对船舶的撞击力,研究了撞击位置、法向框架角度以及浮冰尺寸对碰撞力的影响.基于计算结果,本文就冰载荷的预测进行了讨论并提出了一些建议. 相似文献
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系泊船舶响应的影响因素很多,且十分复杂。针对影响系泊船舶响应的主要因素(波浪和系缆方式)开展研究,通过船舶系泊物理模型试验,研究波浪条件及系缆方式对系泊船舶响应的影响规律,其中波浪条件包括不同的波向及波浪周期,系缆方式包括不同缆绳配置(有无缆尾索)和不同系缆布置方案。研究结果表明,45°斜向浪作用下系泊船舶的运动量和系缆力均明显小于横浪作用下的结果;试验波浪周期范围(T=3.5~6.0 s)内,系泊船舶的运动量和系缆力均随着波浪周期的增大而变大;从船舶系泊安全角度看,设置缆尾索是有利的;码头前后沿共同系缆布置可明显提高船舶系泊(非装卸作业时)的抗风浪流能力。 相似文献
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系泊系统的时域仿真及其非线性动力学特性分析 总被引:1,自引:1,他引:0
应用时域仿真的方法研究了系泊系统的非线性动力学特性。以三阶操纵运动方程为基础,引入定常的风力、潮流作用力和二阶波浪力,建立了系泊系统三自由度的运动微分方程。在此数学模型的基础上,建立了系泊系统的多自由度的计算机仿真模型。在风浪流联合作用的情形下,对一艘单点系泊油轮的动力学行为进行了仿真研究。以潮流速度和系缆程度为分岔控制参数,在参数平面上给出了局部分岔集。研究表明,系泊系统的动力学行为具有强烈的非线性特征。在仿真过程中观察到了吸引子的共存和Hopf分岔。局部分岔集将参数平面分为3个系统动力学行为本质不同的区域。极值系泊力水平与系泊系统的动力学行为有着密切的关系。对于单点系泊船舶而言,顶风顶浪顶流的状态并不一定是最为危险的工况。局部分岔集的确定为系泊系统参数的选择提供了决策依据。 相似文献
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系泊船舶动力学特性的计算机仿真研究 总被引:2,自引:0,他引:2
以三阶操纵运动方程为基础,引入定常的风力、潮流作用力和二阶波浪力,建立了系泊系统三自由度的运动微分方程。在此数学模型的基础上.建立了系泊系统的多自由度的计算机仿真模型。在潮流作用、潮流和风作用以及风浪流联合作用等三种情形下,对系泊船舶的动力学响应分别进行了仿真研究。研究表明,系泊系统的动力学行为具有强烈的非线性特征。对于单点系泊船舶而言,在定常的风浪流作用下.顶风顶浪顶流状态并不一定是最为危险的工况。 相似文献
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Standard design procedures and simulation tools for marine structures are aimed primarily for use by the offshore oil and gas. Mooring system restoring forces acting on floating offshore structures are obtained from a quasi-static mooring model alone or from a coupled analysis based on potential flow solvers that do not always consider nonlinear mooring-induced restoring forces, fluid structure interactions, and associated hydrodynamic damping effects. This paper presents the validation of a dynamic mooring system analysis technique that couples the dynamic mooring model with a Reynolds-averaged Navier-Stokes (RANS) equations solver. We coupled a dynamic mooring model with a RANS equations solver, and analyzed a moored floating buoy in calm water, regular and irregular waves and validated our motion and mooring force predictions against experimental measurements. The mooring system consisted of three catenary chains. The analyzed response comprised decaying oscillating buoy motions, linear and quadratic damping characteristics, and tensile forces in mooring lines. The generally favorable comparison of predicted buoy motions and mooring forces to experimental data confirmed the reliability of our implemented coupling technique to predict system response. Additional comparative results from a potential flow solver demonstrated the benefits of the coupled dynamic mooring model with RANS equations. The successful validated tool of coupling the dynamic mooring model with the RANS solver is available as open source, and it shows the potential of the coupled methodology to be used for analyzing the moored offshore structures. 相似文献
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无人水面艇自主航行中受到外部环境干扰及在控制中心-执行器网络通道中存在网络诱导特性(如网络诱导时延、数据丢包等)的影响,会降低系统性能,影响航向控制系统的稳定性.为了能使无人艇按照设定航向快速、稳定地航行,提出一种基于网络的无人艇航向控制策略.首先,建立基于网络的无人艇航向控制系统模型.基于这个模型,运用Lyapunov稳定性理论和凸分析方法导出能使网络环境下无人水面艇航向控制系统渐进稳定的控制律,并设计基于网络的航向控制器.通过仿真验证所提出方法和设计控制器的有效性. 相似文献
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This review presents a systematic summary of the state-of-the-art development of technological solutions, modeling, and control strategies of thruster-assisted position mooring (TAPM) systems. The survey serves as a starting point for exploring automatic control and real-time monitoring solutions proposed for TAPM systems. A brief historical background of the mooring systems is given. The kinematics and a simplified kinetic control-design model of a TAPM system are derived in accordance with established control methods, including a quasistatic linearized model for the restoring and damping forces based on low-frequency horizontal motions of the vessel. In addition, another two mooring line models, i.e., the catenary equation and the finite element method model, are presented for the purpose of higher-fidelity simulations. The basic TAPM control strategies are reviewed, including heading control, surge-sway damping, roll–pitch damping (for semisubmersibles), and line break detection and compensation. Details on the concepts of setpoint chasing for optimal positioning of a vessel at the equilibrium position are discussed based on balancing the mooring forces with the environmental loads and avoiding mooring line failure modes. One method for setpoint chasing is the use of a structural reliability index, accounting for both mean mooring line tensions and dynamic effects. Another method is the use of a lowpass filter on the position of the vessel itself, to provide a reference position. The most advanced method seems to be the use of a fault-tolerant control framework that, in addition to direct fault detection and isolation in the mooring system, incorporates minimization of either the low-frequency tensions in the mooring lines or minimization of the reliability indices for the mooring lines to select the optimal directions for the setpoint to move. A hybrid (or supervisory switching) control method is also presented, where a best-fit control law and observer law are automatically selected among a bank of control and observer algorithms based on the supervision of the sea-state and automatic switching logic. 相似文献
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用模糊逻辑实现动力定位船舶的艏向寻优 总被引:1,自引:1,他引:0
由于各种环境因素随时间不断变化,船舶作为动力定位作业时,最优艏向也是不断变化的,所以艏向寻优是动力定位的关键技术之一,本文用模糊逻辑实现艏向寻优,其优点是,不依赖于环境要素的测量值和数学模型,寻优与控制相结合,反应快,准确程度高。 相似文献
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采用传统控制策略对低脉冲逆变装置的交流电流控制器进行设计时,控制器系统带宽通常会接近系统的基波频率,导致系统动态响应变差。提出了一种改进的电流控制策略,通过状态反馈控制的极点配置方法克服了这一难题,从而大大提高线性控制器的增益。电流控制器的设计以离散条件下的线性状态空间设计为原则,可使控制系统的动态响应和稳定性能更加优越,且系统具有更强的鲁棒性。最后,对设计结果进行了仿真。结果表明,基于状态反馈控制规律的极点配置法所设计的电流控制器比传统的PR设计方案具有更好的动态性能。 相似文献
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针对船舶动力定位系统模型受到风浪流等环境未知有界扰动的问题,提出一种基于干扰估计补偿的反步控制算法。首先基于滑模面有限时间收敛特点设计干扰观测器,在有限时间内实现对未知有界干扰的估计,并采用一阶低通滤波器连续化干扰观测器估计值,减少抖振;然后基于干扰观测器设计船舶动力定位反步控制器,并应用Lyapunov函数证明了所设计的控制器使船舶的位置和航向收敛于期望值。最后通过铺缆船仿真结果表明所设计控制器具有较好的控制性能,对系统的有界干扰具有良好的鲁棒性。 相似文献
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[目的]为处理水面船舶航向控制过程中受到的非零漂角和输入饱和影响,提出一种基于反步法的航向控制方法。[方法]首先,利用相对速度求出实际漂角,再通过漂角对航向角误差进行修正;然后,采用一种预滤波方法减小航向改变时对航速变化的影响,同时引入双曲正切函数和Nussbaum函数逼近输入约束,结合自适应律对逼近误差和艏摇方向上的扰动进行估计;最后,借助指令滤波器简化反推过程,并通过Lyapunov理论证明控制系统的稳定性。[结果]仿真结果表明,所提控制器有效减小了水面船舶的航向输出误差,且能始终保持较小的控制输入力矩。[结论]研究成果可为水面船舶航向控制设计提供参考。 相似文献
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Tufan Arslan Bjørnar Pettersen Helge I. Andersson 《Journal of Marine Science and Technology》2016,21(3):552-566
The present work is motivated by phenomena occurring in the flow field around ship-like bodies with an incoming lateral flow (cross-flow, 90 ° drift angle). Three-dimensional unsteady flows around different ship sections are investigated by using computational fluid dynamic (CFD) tools with large-eddy simulation (LES) subgrid-scale turbulence model. The simulation results are compared to measurements at several Reynolds numbers in the 90–200,000 range. Focus in our investigation is on the characterization of the motion of vortex structures generated by the separated flow. Another target in the study is to obtain better knowledge of the hydrodynamic forces acting on the sections. Computed pressure and drag coefficients are compared with experimental measurements. The comparison between simulations and measurements shows that an LES model can predict the flow field around ship sections in detail and the hydrodynamic forces acting on the sections. 相似文献
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海洋环境的复杂性以及自身模型的不确定性,给自主潜航器(AUV)航向控制带来很大困难.针对AUV的特点和控制方面所存在的问题,采用了带衡量因子的动态BP神经网络控制器控制AUV的航向.理论分析和仿真结果表明,与传统的PID控制器相比,在扰动存在的情况下,神经网络控制器具有更好的自适应性和鲁棒性. 相似文献