Robust autopilot with wave filter for ship steering

Research was done to overcome traditional problems associated with automatic steering systems of a ship in a seaway. A ship＇ s dynamic model with wave disturbances was built and a wave filter was designed by means of an extended states observer （ESO）. The model estimated the low frequency motion component from a heading measurement corrupted by colorednoise, so back-and-forth steering caused by high frequency wave disturbances was avoided. At the same time, a robust autopilot system, designed by variable structure control theory, was presented. Simulation results achieved in dangerous sea status show that the wave filter works very well and the autopilot has strong robustness to environmental disturbances and model perturbation, and more importantly, the frequency of rudder adjustments is reduced noticeably.     

Energy Optimization of the Fin/Rudder Roll Stabilization System Based on the Multi-objective Genetic Algorithm (MOGA)

Energy optimization is one of the key problems for ship roll reduction systems in the last decade. According to the nonlinear characteristics of ship motion, the four degrees of freedom nonlinear model of Fin/Rudder roll stabilization can be established. This paper analyzes energy consumption caused by overcoming the resistance and the yaw, which is added to the fin/rudder roll stabilization system as new performance index. In order to achieve the purpose of the roll reduction, ship course keeping and energy optimization, the self-tuning PID controller based on the multi-objective genetic algorithm(MOGA) method is used to optimize performance index. In addition, random weight coefficient is adopted to build a multi-objective genetic algorithm optimization model. The objective function is improved so that the objective function can be normalized to a constant level. Simulation results showed that the control method based on MOGA, compared with the traditional control method, not only improves the efficiency of roll stabilization and yaw control precision, but also optimizes the energy of the system. The proposed methodology can get a better performance at different sea states.     

Statistical Analysis of Ship Collisions with Bridges in China Waterway

Having carried out investigations on ship collision accidents with bridges in waterway in China, a database of ship collision with bridge (SCB) is developed in this paper. It includes detailed information about more than 200 accidents near ship' s waterways in the last four decades, in which ships collided with the bridges. Based on the information a statistical analysis is presented tentatively. The increase in frequency of ship collision with bridges appears, and the accident quantity of the barge system is more than that of single ship. The main reason of all the factors for ship collision with bridge is the human errors, which takes up 70%. The quantity of the accidents happened during flooding period shows over 3 - 6 times compared with the period from March to June in a year. The probability follows the normal distribution according to statistical analysis. Visibility, span between piers also have an effect on the frequency of the accidents.     

船体周围Stokes波浪流耦合VOF模型的数值模拟（英文）

The surface wave generated by flow around a ship hull moving near free surface of water is simulated numerically in this study. The three-dimensional implicit finite volume method(FVM) is applied to solve Reynolds averaged Navier-Stokes(RANS) equation. The realizable k-ε turbulence model has been implemented to capture turbulent flow around the ship hull in the free surface zone. The volume of fluid(VOF) method coupled with the Stokes wave theory has been used to determine the free surface effect of water. By using is a six degrees of freedom model, the ship hull's movement is numerically solved with the Stokes wave together. Under the action of Stokes waves on the sea, the interface between the air and water waves at the same regular pattern and so does the pressure and the vertical velocity. The ship hull moves in the same way as the wave. The amplitude of the ship hull's heave is less than the wave height because of the viscosity damping. This method could provide an important reference for the study of ships' movement, wave and hydrodynamics.     

Added resistance acting on hull of a non ballast water ship

In this paper, added resistances acting on a hull of non ballast water ship(NBS) in high waves is discussed. The non ballast water ships were developed at the laboratory of the authors at Osaka Prefecture University, Japan. In the present paper, the performances of three kinds of bow shapes developed for the NBS were theoretically and experimentally investigated to find the best one in high waves. In previous papers, an optimum bow shape for the NBS was developed in calm water and in moderated waves. For a 2 m model for experiments and computations, the wave height is 0.02 m. This means that the wave height is 15% of the draft of the ship in full load conditions. In this paper, added resistances in high waves up to 0.07 m for a 2 m model or 53% of the full load draft are investigated. In such high waves linear wave theories which have been used in the design stage of a ship for a long time may not work well anymore, and experiments are the only effective tool to predict the added resistance in high waves. With the computations for waves, the ship is in a fully captured condition because shorter waves, λ/Lpp0.6, are assumed.     

航行于波浪中的肥大型船波浪增阻计算研究(英文)

Under the background of the energy saving and emission reduction, more and more attention has been placed on investigating the energy efficiency of ships. The added resistance has been noted for being crucial in predicting the decrease of speed on a ship operating at sea. Furthermore, it is also significant to investigate the added resistance for a ship functioning in short waves of large modern ships. The researcher presents an estimation formula for the calculation of an added resistance study in short waves derived from the reflection law. An improved method has been proposed to calculate the added resistance due to ship motions, which applies the radiated energy theory along with the strip method. This procedure is based on an extended integral equation (EIE) method, which was used for solving the hydrodynamic coefficients without effects of the irregular frequency. Next, a combined method was recommended for the estimation of added resistance for a ship in the whole wave length range. The comparison data with other experiments indicate the method presented in the paper provides satisfactory results for large blunt ship.     

Research on integrated naval ship design model and its intelligent algorithm

Pointing at naval ship projects creation and evaluation at stage of naval ship concept design,in the mechanism of integrated design based on naval ship synthesis model, ship projects creation and intelligent fuzzy evaluation method is researched, thus the applicability of each algorithm is obtained. Firstly,the naval ship synthesis model is introduced to design process, value and application status of synthesis model in integrated design is then exposed. Then the applicability of single target and multi targets SA algorithm is improved, and the quick generation of naval ship projects is done. After that, multiple projects evaluation method based on Vague fuzzy set is introduced to established the intelligent evaluation model, which can integrate effectively the quantitative and qualitative indexes. At last, the analysis of results comparison shows the advancement and rationality of each method. The example shows the integrated design process researched in this paper can be a great orientation of naval ship project design, and can also be used in other parts of naval ship development.     

船模在简谐激励存在时的运行模态分析(英文)

A ship is operated under an extremely complex environment, and waves and winds are assumed to be the stochastic excitations. Moreover, the propeller, host and mechanical equipment can also induce the harmonic responses. In order to reduce structural vibration, it is important to obtain the modal parameters information of a ship. However, the traditional modal parameter identification methods are not suitable since the excitation information is difficult to obtain. Natural excitation technique-eigensystem realization algorithm (NExT-ERA) is an operational modal identification method which abstracts modal parameters only from the response signals, and it is based on the assumption that the input to the structure is pure white noise. Hence, it is necessary to study the influence of harmonic excitations while applying the NExT-ERA method to a ship structure. The results of this research paper indicate the practical experiences under ambient excitation, ship model experiments were successfully done in the modal parameters identification only when the harmonic frequencies were not too close to the modal frequencies.     

Application of H∞ control in rudder/flap vector robust control of a ship＇s course

Given the uncertainty of parameters and the random nature of disturbances that effect a ships course, a robust course controller should be designed on the basis of rudder/flap vector control. This paper analyzes system uncertainty, and the choice of weighting functions is also discussed. When sea waves operate on a ship, the energy-concentrating frequency varies with the angle of encounter. For different angles of encounter, different weighting functions are designed. For the pole of a nominal model existing in an imaginary axis, the bilinear-transform method is used. The ＂2-Riccati＂ equation is adopted to solve the H∞ controller. A system simulation is given, and the results show that, compared with a PID controller, this system has higher course precision and more robust performance. This research has significant engineering value.     

Application of H~∞ control in rudder/flap vector robust control of a ship's course

Given the uncertainty of parameters and the random nature of disturbances that effect a ships course, a robust course controller should be designed on the basis of rudder/flap vector control. This paper analyzes system uncertainty, and the choice of weighting functions is also discussed. When sea waves operate on a ship, the energy-concentrating frequency varies with the angle of encounter. For different angles of encounter, different weighting functions are designed. For the pole of a nominal model existing in an imaginary axis, the bilinear-transform method is used. The "2-Riccati" equation is adopted to solve the H∞ controller. A system simulation is given, and the results show that, compared with a PID controller, this system has higher course precision and more robust performance. This research has significant engineering value.     

UUV外形和总体布局分析

The construction and shape of UUVs are described in the paper.UUV design is the shape of the overall design of unmanned underwater vehicle should first be resolved UUV underwater vehicle directly affects the shape of the resistance and noise,which is related to energy,payload,maneuverability and concealment UUV problem The main characteristic and parameter tables for foreign torpedo shape,flat shape and anomalous shape are also given in the paper.The general layout of typical foreign UUVs is analyzed in detail.And the total layout figure and interior constructive figure are introduced.Torpedo-type because of its good water power and low noise,no one has been the main form of underwater vehicle-like,and many designers are now highly favored because of its stable performance,anti-environmental interference capability.Other irregular shapes designed primarily for the completion of a specific task,according to the specific environment and mission requirements.According to comparing and summarizing,some suggestions and conclusions are presented.     

A comparative study on the hull strength of a ship with thin-walled box girders

1 Introduction1 The permanent aim is that the ship designers try to optimize the ship structure to improve the strength of hull. The traditional design of ship structure avoiding damage is involved with many transverse bulkheads set up in the ship in orde…     

Ship hull plate processing surface fairing with constraints based on B-spline

The problem of ship hull plate processing surface fairing with constraints based on B-spline is solved in this paper. The algorithm for B-spline curve fairing with constraints is one of the most common methods in plane curve fairing. The algorithm can be applied to global and local curve fairing. It can constrain the perturbation range of the control points and the shape variation of the curve, and get a better fairing result in plane curves. In this paper, a new fairing algorithm with constraints for curves and surfaces in space is presented. Then this method is applied to the experiments of ship hull plate processing surface. Finally numerical results are obtained to show the efficiency of this method.     

Numerical Simulation of the Stokes Wave for the Flow around a Ship Hull Coupled with the VOF Model

The surface wave generated by flow around a ship hull moving near free surface of water is simulated numerically in this study. The three-dimensional implicit finite volume method(FVM) is applied to solve Reynolds averaged Navier-Stokes(RANS) equation. The realizable k-ε turbulence model has been implemented to capture turbulent flow around the ship hull in the free surface zone. The volume of fluid(VOF) method coupled with the Stokes wave theory has been used to determine the free surface effect of water. By using is a six degrees of freedom model, the ship hull’s movement is numerically solved with the Stokes wave together. Under the action of Stokes waves on the sea, the interface between the air and water waves at the same regular pattern and so does the pressure and the vertical velocity. The ship hull moves in the same way as the wave. The amplitude of the ship hull’s heave is less than the wave height because of the viscosity damping. This method could provide an important reference for the study of ships’ movement, wave and hydrodynamics.     

Prediction of Stabilization of Ship in Random Wave

In this paper we show thc method of energy in part with which we can get the model of random wave,and predict theroll motion of unstabilized ship and stabilized ship using the wave model.The control parameters of fin stabilizer are determinedaccording to the performance index. The simulation of the system is also made in this paper. The comparison of the simulationwith real ship indicates that the method can be used in the prediction of roll motion of a stabilized ship in random wave.     

Research on framework for formation control of multiple underwater robots in a dynamic environment

In this paper a practical framework is proposed to keep formation control of multiple underwater robots in a dynamic environment. The approach is a viable solution to solve formation problem. The approach allows online planning of the formation paths using a Dijkstra‘s search algorithm based on the current sensor data. The formation is allowed to be dynamically changed in order to avoid obstacles in the environment. A controller is designed to keep the robots in their planned trajectories. It is shown that the approach is effective and feasible by the simulation of computer.     

开源环境下的高精确度船舶水动力学仿真(英文)

The numerical simulation of wake and free-surface flow around ships is a complex topic that involves multiple tasks: the generation of an optimal computational grid and the development of numerical algorithms capable to predict the flow field around a hull. In this paper, a numerical framework is developed aimed at high-resolution CFD simulations of turbulent, free-surface flows around ship hulls. The framework consists in the concatenation of "tools", partly available in the open-source finite volume library Open FOAM. A novel, flexible mesh-generation algorithm is presented, capable of producing high-quality computational grids for free-surface ship hydrodynamics. The numerical frame work is used to solve some benchmark problems, providing results that are in excellent agreement with the experimental measures.     

The Technology Trend of the Advanced Scientific Exploration Vessel in the World

The U.S M/V "Sikuliaq"The Alaska Fairbanks University of U.S has ordered a scientific exploration vessel that operates in Alaskan region from Marinette Marine company. This vessel is designed by Glosten Associates Marine Construction Engineering Company and its launch is planned in June, 2012 and full operation in 2014. The whole project is predicted to cost $123 million. After completion, this ship will become one of the most advanced research vessels in the world. The M/V"Sikuliaq" has a length of 79.5 meters, a width of 15.84 meters, a depth of 8.53 meters, a draught of 7.77 meters and a discharge of 3724 tons. Accommodation can be provided for 26 researchers.     

Multi-objective optimization study on dimensions of medium-sized cruise ship in concept phase北大核心CSCD

［Objective］Aiming at the problem of too many influencing factors and too little reference data for determining the dimensions of medium-sized cruise ships in the concept phase, a simplified multi-objective optimization method based on the fitting of dimensions and performance is proposed. ［Method］First, the dimension relations of medium-sized cruise ships are analyzed and the influence of the latest SOLAS requirements used to determine the optimization range. Second, the influence of cruise ship dimensions on space, resistance, stability and seakeeping are analyzed. Next, based on the principles of genetic algorithms, a multiobjective optimization algorithm with high robustness and high engineering adaptability is determined to establish a multi-objective optimization model for the concept design of medium-sized cruise ships. Finally, the Pareto solution obtained by multi-objective optimization is analyzed to provide initial references for determining the dimensions of the target cruise ship. ［Results］Implemented via a genetic algorithm, the optimization program proposed herein is applied in the concept design of a medium-sized cruise ship in order to optimize the initial dimensions, thereby achieving the expected outcome of providing reasonable initial dimensions for cruise ship design. ［Conclusion ］ The proposed simplified multi-objective optimization model can provide feasible initial dimensions for medium-sized cruise ships in the concept phase. As the Pareto solution obtained by multi-objective optimization has different focuses such as resistance and stability, the most suitable solution needs to be selected according to the design object. © 2023 Chinese Journal of Ship Research. All rights reserved.     

High Resolution Ship Hydrodynamics Simulations in Open Source Environment

The numerical simulation of wake and flee-surface flow around ships is a complex topic that involves multiple tasks： the generation of an optimal computational grid and the development of numerical algorithms capable to predict the flow field around a hull. In this paper, a numerical framework is developed aimed at high-resolution CFD simulations of turbulent, free-surface flows around ship hulls. The framework consists in the concatenation of ＂tools＂, partly available in the open-source finite volume library OpenFOAM. A novel, flexible mesh-generation algorithm is presented, capable of producing high-quality computational grids for free-surface ship hydrodynamics. The numerical frame work is used to solve some benchmark problems, providing results that are in excellent agreement with the experimental measures.