Nonlinear model predictive dynamic positioning control of an underwater vehicle with an onboard USBL system

This paper presents a novel optimization-based approach for dynamic positioning (DP) of a fully actuated underwater vehicle equipped with an onboard ultrashort baseline transceiver to provide relative position information of two earth-fixed transponders near the vehicle. The DP system error is defined by the transponders’ positions compared to the desired values, which occur at the vehicle’s target pose (position and orientation). The proposed DP strategy is composed of two loops in a hierarchical structure. In the kinematic loop, the nonlinear model predictive control is used to generate the desired velocity by optimizing a cost function of the predictive trajectories under the constraints of velocity and transponder bearings over a limited time horizon. In the dynamic loop, the neural network model reference adaptive control with pseudo control hedging is utilized to ensure the asymptotical convergence of velocity tracking errors in the presence of uncertainties associated with unknown model parameters, currents and thruster dynamics. The effectiveness of the proposed control scheme is illustrated by comprehensive simulations.     

船用气囊隔振系统的非线性动力学特性

气囊隔振系统通常被广泛应用于对舰船或潜艇上的大型旋转机械实施隔振控制。然而,船舶在航行时,隔振系统有时会产生过大的位移,会呈现出一些非线性动力学现象。文中以带间隙的线性弹簧限位器的隔振系统为研究对象,考虑了垂直和偏转两个方向的运动,基于分析力学的相关理论建立了具有旋转偏心质量的气囊隔振系统非线性动力学模型,并且采用数值方法重点分析了该系统的非线性动力学行为以及参数变化对系统动力学特性的影响。结果显示在低转速时,系统呈现出准周期运动特性;随着转速的增大,系统运动中出现混沌、周期3、5、7及准周期运动等一系列的非线性动力学现象。     

Using system dynamics in maritime economics: an endogenous decision model for shipowners in the dry bulk sector

In this paper, we consider the benefits of applying system dynamics in maritime economics. We build an endogenous shipowners' model for the dry bulk sector, incorporating both the decision process of individual shipowners and traditional shipping market conditions. The aim is to arrive at a simulation tool that can be used for a variety of applications, both for teaching/learning and for research purposes. Within the endogenous shipping model, we can distinguish between the strategic and the tactical choices shipowners face. As an application, we focus explicitly on a strategic decision-making process that is relevant to any shipowner, i.e. the sale of a vessel. System dynamics seems to be a tool well-suited for the detailed modelling of strategic and operational behaviour in the maritime business.     

Application of a 3-D variational inverse model to the analysis of ecohydrodynamic data in the Northern Bering and Southern Chukchi Seas

In the scope of the Inner SHelf Transfer And Recycling Program, extensive oceanographic surveys were conducted in the Northern Bering and Southern Chukchi Seas. A vast amount of hydrographic, chemical and biological data were collected in order to increase the information available on the system and to test if biological observations are indeed compatible with the dominant hydrographic regimes. An original model, based on the variational inverse method, was developed with the aim of reconstructing realistic three-dimensional fields of the variables of interest and giving an interpretation of the observations consistent with the physics of the general circulation. The basic formulation of the model is quite general and provides a very helpful tool in the context of interdisciplinary studies. In a first stage, the vertical and horizontal structures of physical variables are reproduced and discussed. Secondly, a sketch is proposed to explain the driving mechanisms of the primary productivity in the Northern Bering Sea. In particular, one shows that the hydrodynamic regimes strongly condition the behaviour of the ecosystem and are mainly responsible for the very fertile environment that characterizes the Southern Chukchi Sea.     

基于SD模型的云计算采纳和扩散仿真分析

为探索云计算采纳和扩散过程的复杂性和动态性,从技术、组织、环境3个层面分析云计算采纳的影响因素,运用系统动力学方法,建立了云计算在产业层次扩散和组织层次采纳的仿真模型.对模型的有效性验证后,分别对不同产业充分性、组织充分性和安全需求满足度条件下的云计算采纳和扩散进行了仿真.研究结果表明:云化充分性越高的行业,云计算扩散速率越快,且创新性和安全满足程度越高的组织,采纳云计算的意愿越强.     

新的非线性弥散关系及其波浪变形数学模型

针对Hedges、Kirby、李瑞杰提出的修正非线性弥散关系在浅水区存在较大偏差的问题,给出了一个在整个水深范围内相对波速具有单值性的新的非线性弥散关系。它在深水区与二阶Stokes波的弥散关系相一致,在浅水区较前人的修正式与Hedges经验弥散关系更加吻合,在中等水深区域与二阶Stokes波的弥散关系及Hedges经验弥散关系的偏差也达到最小。为了避免非线性弥散关系引入缓坡方程而导致的迭代,采用显式形式近似表达该非线性弥散关系,得到与其精度几乎完全相同的显式表达式。用该显式表达式,结合弱非线性效应的缓坡方程,得到考虑非线性弥散影响的波浪变形数学模型。用该模型对复杂地形进行模拟,计算结果与实测值吻合很好。     

Nonlinear dynamics of ship capsizing due to broaching in following and quartering seas

To provide a theoretical methodology to predict the critical condition for capsizing due to broaching, a nonlinear dynamical system approach was applied to the surge–sway–yaw–roll motion of a ship running with an autopilot in following and quartering seas. Fixed points of a mathematical model for the ship motion and unstable manifolds of the fixed point near the wave crest were systematically investigated. As a result, the existence of heteroclinic bifurcation was identified. With numerical experiments, it was confirmed that this heteroclinic bifurcation reasonably well represents the critical condition for capsizing due to broaching. Thus the nonlinear dynamical approach can be substituted for tedious numerical experiments. Received for publication on Nov. 20, 1998; accepted on March 16, 1999     

计及空气介质的水下拖曳系统运动模型及其数值计算

为进一步提高水下拖曳系统运动仿真的准确性,本文建立了计及空气介质的拖曳系统运动模型,并提出了改进的有限差分方法来保证数值计算时的稳定性.仿真和试验表明,考虑空气介质后将进一步改善拖曳张力和缆形的计算精度,以及提高对双拖安全性分析的准确性.     

Baroclinic eddy formation in a Rhine plume model

A three-dimensional finite difference tidal model, including advective and diffusive transport of salinity, is used in the two-layer model for simulation of Rhine water outflow. Layer depths are adjusted in a way that no advective transports between upper and lower layer take place in case of sufficiently stable stratification.Model results show frontal eddy development related to (limited) growing internal waves in case of weak northeasterly to southeasterly winds. It is shown that baroclinically unstable conditions occur, related to vertical velocity shear, resulting in frontal meanders with wave lengths between 18 and 30 km. Satellite images of sea surface temperature show a comparable behaviour of the temperature front, which is strongly correlated with the salinity front of the Rhine plume.     

Topological analysis of the formation of Jet-Wake flow pattern in centrifugal impeller channel

Topological analyses are carried out for the numerical results of internal flow field in centrifugal impeller. Topological rules of the singular point characteristics of the limiting streamline are derived and used to determine three dimensional separation patterns in centrifugal impeller and to verify the numerical results. The results reveal that the wake is saddle to nodal closed separation and the formation, its onset point and its developing process of Jet-Wake Flow pattern a in centrifugal impeller are presented in this paper.     

船舶传动装置多体动力学和有限元仿真技术

目前,传动装置振动计算多采用集中参数法,未将轴系振动(扭转振动、横向振动与纵向振动)以及结构振动进行综合分析,与实际情况有一定的差别。本文以典型双机并车装置传动(包括柴油机、高弹性联轴器、万向轴、传动齿轮、主轴与输出负载)为研究对象,应用多体系统动力学理论对其激励特性进行研究,为传动装置有限元动力学响应分析提供输入条件。在完成传动装置多体动力学仿真分析的基础上建立传动装置有限元分析模型,然后对传动装置进行轴系振动和结构振动有限元动力学响应分析,并进行试验验证。同时,讨论转速和隔振刚度对传动装置结构振动的影响规律。最后,通过总结,初步形成船舶传动装置基于多体动力学和有限元仿真的振动特性预估方法,以完善和充实传动装置的研究方法和理论。     

欠驱动船舶水面的非线性数学模型及跟踪控制

以欠驱动船舶水面的跟踪控制为研究对象,介绍船舶的数学模型和运动方程建模,以及船舶在水平面上3个自由度的运动方程,并且对船舶可能受到的风、浪、流等干扰进行分析。最后,提出一种自抗扰船舶航向控制方法,在该方法中,运用遗传算法对控制参数进行优化处理。实验结果表明,该自抗扰控制方法具有较高的抗干扰能力和较强的鲁棒性。     

Evaluation of added resistance in regular incident waves by computational fluid dynamics motion simulation using an overlapping grid system

A computational fluid dynamics simulation method called WISDAM-X was developed to evaluate the added resistance of ships in waves. The Reynolds-averaged Navier–Stokes (RANS) equation was solved by the finite-volume method and a MAC-type solution algorithm. An overlapping grid system was employed to implement rigorous wave generation, the interactions of ships with incident waves, and the resultant ship motions. The motion of the ship is simultaneously solved by combining the solution of the motion of the ship with the solution of the flow about the ship. The free surface is captured by treatment by the density-function method. The accuracy of WISDAM-X is examined by a comparison with experimental data from a container carrier hull form, and shows a fairly good agreement with respect to ship motion and added resistance. Simulations were also conducted for a bow-form series of a medium-speed tanker to examine the effectiveness of the WISDAM-X method as a design tool for a hull form with a smaller resistance in waves. It was confirmed that the WISDAM-X method can evaluate the added resistance with sufficient relative accuracy and can be used as a design tool for ships.     

Spatial pattern of the global shipping network and its hub-and-spoke system

Port system is a research focus of transport geography, and most studies believe carriers are important factors in the development and concentration of the port system. Since the 1990s, carriers have played an important role in organizing the global shipping network and reorganizing the port system. But there isn’t a perfect method to evaluate carriers’ influence and the roles of each port in the maritime shipping networks. In this paper, we use the monthly schedule table of international carriers to describe and model the spatial pattern of the global shipping network and identify its hub-and-spoke system. The result shows that a hierarchical structure exists in the global shipping network. The North Hemisphere, especially the East Asia and the Southeast Asia, is a dominant region of the worldwide shipping network. East Asia, Southeast Asia, Northeast Europe, and East coast of the USA are the concentration regions of worldwide shipping lines. The ports of Hong Kong, Singapore, Shenzhen, Shanghai, and Kaohsiung etc have advanced capacity for maritime shipping and high potentials for being hub ports in the global shipping network. Today, the worldwide shipping network is transforming from the multi-port calling system to 44 regional hub-and-spoke systems. Meanwhile, the sub-networks with hub ports of Antwerp, Singapore, and Hong Kong have become the most important ones and dominate the whole global shipping network.     

海上计算机专用系统程序模式识别中的病毒检测技术

船舶信息化建设的步伐不断加快,海上计算机专用系统得到广泛应用,与此同时,由于计算机病毒的快速发展,人们越来越重视海上计算机的安全性。本文深入研究计算机病毒和病毒检测技术,提出基于程序行为的模式识别算法,有效提高病毒检测的效率。     

液压系统电磁换向阀动力学特性仿真

建立液压系统电磁换向阀的动力学模型,进行数值仿真研究。通过对阻尼、刚度和电磁力进行不同值的数值仿真,得到阀芯换向时的位移曲线。从阀芯位移曲线中,分析该参数对阀芯换向的影响,得出合理的参数配置对电磁换向阀的重要性。     

舰艇编队通信对抗体系研究

信息化海战场舰艇编队对抗中,通信对抗呈现体系化对抗趋势。本文从编队通信对抗的主要内容出发,详细论述了编队通信对抗对流程体系、时空基准和信息融合的需求,重点研究了指控流程、协同定位、目标识别和网电复合攻击的关键技术,以及编队体系对抗所带来的效能提升。本文的研究内容对编队通信对抗体系建设和发展具有一定的指导意义。     

船舶自动识别系统中的模型及数据接口研究

针对船舶自动识别系统(AIS)模型的工作原理及系统构成进行研究。设计AIS数据接口和PC机接口之间的硬件转换电路,运用ARM Cortex-M3内核的STM32F103芯片的串口通信实现数据信息的采集,完成对AIS信息采集系统的软件设计。     

自动加沙控制系统及其在潮汐模型试验中的应用

为满足潮汐水流边界输沙率在一个潮周期的变化要求,提高模型试验加沙控制精度和自动化水平,在台山电厂泥沙模型试验中设计开发了自动加沙控制系统,该系统利用PLC控制器的控制技术和变频器的变频原理,实现了对整个试验过程的适时加沙控制。实践表明该控制系统具有较好的稳定性和较高的精度,能够适应潮汐水流要求加沙适时变化的特点,也可以在其它非恒定输沙模型试验中推广使用。     

海上编队信息类型与流转模式分析

充分认识分析海上编队信息类型和流转模式,有助于取得信息优势.本文从不同层次范围出发,提出一种编队信息分类方式,在此基础上分析全局范围和编队范围的信息流转模式,最后依据分析结果提出了相关建议.