基于模糊控制与遗传算法的潜艇自动舵设计与实现

在潜艇六自由度模型的基础上,根据一阶二阶波浪力对于航行在近水面潜艇深度的影响,采用模糊控制技术和遗传算法设计了基于二级模糊控制的遗传算法调整控制参数的潜艇自动舵控制系统.通过在近水面和水下两种状态对控制器性能仿真与结果分析,说明该自动舵具有很好的控制效果,响应较快,静差较小,具有较强抗干扰能力,对于近水面的深度控制有稳定的控制作用.     

波浪和海流对浮式海洋牧场的作用（英文）

The paper is partly a review on hydrodynamic and structural aspects of fish farms. In addition, new numerical results are presented on the stochastic behavior of bending stresses in the floater of a realistic net cage in extreme wave conditions. The behavior of traditional-type fish farms with net cages and closed fish farms in waves and currents is discussed. Hydroelasticity can play a significant role for net cages and closed membrane-type fish farms. The many meshes in a net cage make CFD and complete structural modeling impracticable. As an example, a hydrodynamic screen model and structural truss elements are instead used to represent the hydrodynamic loading and the structural deformation of the net. In addition, the wake inside the net due to current plays an important role. The described simplified numerical method has been validated by comparing with model tests of mooring loads on a single net cage with two circular elastic floaters and bottom weight ring in waves and currents. It is discussed which parts of the complete system play the most important roles in accurately determining the mooring loads. Many realizations of a sea state are needed to obtain reliable estimates of extreme values in a stochastic sea. In reality, many net cages operate in close vicinity, which raises questions about spatial variations of the current and wave environment as well as hydrodynamic interaction between the net cages. Live fish touching the netting can have a non-negligible influence on the mooring loads. It is demonstrated by numerical calculations in waves and currents that a well boat at a net cage can have a significant influence on the mooring loads and the bending stresses in the floater. The latter results provide a rational way to obtain operational limits for a well boat at a fish farm. Sloshing has to be accounted for in describing the behavior of a closed fish farm when important wave frequencies are in the vicinity of natural sloshing frequencies. The structural flexibility has to be considered in determining the natural sloshing frequencies for a membrane-type closed fish farm. Free-surface non-linearities can matter for sloshing and can, for instance,result in swirling in a certain frequency domain for a closed cage with a vertical symmetry axis.     

复杂结构的舰船电力系统仿真算法研究

针对复杂结构的舰船电力系统的特点提出了一种新的仿真方法,该方法分为两部分:稳态计算和动态计算.稳态计算部分采用基于网络的节点电势法,充分考虑了线路压降对异步电动机参数的影响;动态计算部分将稳态计算的结果作为仿真初始值,采用变步长节点分析法求解微分方程.仿真和试验结果表明,该算法适用于辐射形、环形和网状形等任何复杂结构的舰船电力网络,方法简单、精度高、收敛性好,易于计算机实现.     

The influence of the Agulhas Current on the adjacent coastal ocean: possible impacts of climate change

The dynamics of the coastal ocean along the southeastern coast of Africa is dominated by a strong and intense western boundary current, the Agulhas Current. With a near-uniform, narrow continental shelf and a steep shelf slope that stabilizes this current, the trajectory of the Agulhas exhibits great stability. The only substantial perturbation occurs with the irregular passage of a Natal Pulse, a soliton meander. The initiation of this meander at the Natal Bight is due to a barotropic instability when the intensity of the landward border of the current exceeds a certain threshold value. This may come about with natural fluctuations in the current or with the adsorption of deep-sea eddies onto the current. Under a climate change scenario of altered wind stress curl over the South Indian Ocean it is conceivable that the threshold for the triggering of a Natal Pulse will occur more frequently. This will lead to a situation where the current axis on average lies further offshore. The possible consequences of such a situation on the rainfall of the coast, on the ecology of estuaries and the coastal ocean, and on the socio-economics of the region is discussed.     

Assessing appropriate stiffness levels for spudcan foundations on dense sand

Before a jack-up can operate at a given location, a site-specific assessment of its ability to withstand a design storm during operation must be performed. During this assessment, the complex state of stress and strain under a spudcan is usually simplified to a value of foundation stiffness that is integrated as a boundary condition into the structural analysis. Soil stiffness is a critical parameter affecting the foundation and structural load distribution and displacements, and the jack-up natural period and dynamic response. The level of spudcan stiffness is an area of intense interest and debate. This paper assesses appropriate stiffness levels for numerical simulation. Utilising results from a detailed “pushover” experiment of a three-legged model jack-up on dense sand, the paper compares the experimental pushover loads and displacements on the hull and spudcans to numerical simulations using different assumptions of spudcan stiffness. These include pinned and encastré footings, linear springs and a force-resultant model based on displacement-hardening plasticity theory. Constant stiffness levels are shown to be inadequate in simulating the experimental pushover test. The non-linear degradation of stiffness associated with the latter force-resultant model is critical.     

共翼型舵特性及其对潜艇潜浮运动影响研究

共翼型舵是一种新型的潜艇组合舵翼操纵面.文章首先通过水洞试验和CFD计算对共翼型舵的敞水水动力性能进行了研究,结果表明,共翼型舵的舵效随弦长比和展弦比增大,封堵舵翼之间的间隙可以显著提高舵的水动力性能.随后通过CFD计算对比了分别安装有普通舵、共翼型舵和封堵缝隙的共翼型舵的潜艇的潜浮运动,结果显示,5°舵角时,安装共翼型舵和封堵缝隙的共翼型舵的潜艇模型潜浮角分别比安装普通舵的模型提高65％和105％左右.     

Numerical analysis on free surface waves and stern viscous flow of a ship model

This paper deals with numerical techniques for computing the viscous flow past a ship hull with and without a free surface using a Reynolds-averaged Navier-Stokes solver with global conservation. In the first technique, a coarse grid is used to find an approximate solution to the free surface problem. Interpolation of a fine grid is subsequently carried out, and a more exact solution, particularly in the boundary layer and wake, is obtained. In the second technique, a modified Baldwin-Lomax model is introduced to compute the viscous flow with and without a free surface. These numerical techniques are applied to simulations of the flow around a Series 60 and an SR196C ship model. The results are compared with measurement data, and the usefulness of the numerical techniques is demonstrated.     

一种新型舵机装置的研究

本文提出一种利用滚动螺旋将液压缸的直线运动直接转换成舵叶转动的机构,这种机构的优点是推舵装置和动力传动装置均布置在上舵杆内,最大限度地节省了空间.本文对执行机构的传动原理、结构进行了介绍,并对设计计算中的薄弱环节--滚珠与滚道的高副接触进行了详尽的分析.     

Locomotion by mechanical pectoral fins

The objectives of this study were the development of a new device for maneuvering an underwater vehicle using the mechanism of a fish swimming, an experimental and theoretical analysis of the hydrodynamic characteristics of the device, and its application to maneuvering a fish robot. Observations and experimental analysis of the pectoral fins of a black bass (Micropterus salmoides) revealed that the locomotion of the fish, such as swimming forward at low speed, swimming backward, and turning in a horizontal plane is generated by using a combination of a feathering motion and a lead-lag motion of the pectoral fins. A mechanical pectoral fin making a feathering motion and a lead-lag motion generates a thrust force in a range of phase differences between both motions. The unsteady vortex lattice method, including the effect of viscosity, can express fairly well the unsteady forces acting on the mechanical pectoral fin in the range of phase differences where it exerts the thrust force. The fish robot, consisting of a model fish body and a pair of mechanical pectoral fins, can not only swim forward and turn in almost the same position, but can also swim in a lateral direction without changing the yaw angle. Translation of an article that appeared in the Journal of The Society of Naval Architects of Japan, vol. 182 (1997): The original article won the SNAJ prize, which is awarded annually to the best papers selected from the SNAJ Journal, JMST, or other quality journals in the field of naval architecture and ocean engineering.     

A study of liabilities of multimodal transport operators in China

This article studies the liabilities of a multimodal transport operator under Chinese law. The present legal framework governing the multimodal transport consists of a complex array of laws and regulations. As a consequence, the applicable liability rules, the degree and the extent of the liability of a multimodal transport operator may vary from case to case. In addition, the ratification of the Rotterdam Rules would only contribute to clarification of legal complexities in a multimodal transport case where a sea leg is included. We conclude that there is a need to have a Chinese multimodal transport law which is broad enough in scope to govern the rights and liabilities of all parties involved in multimodal carriage in China.     

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.     

新型小水线面双体船阻力和耐波性数值模拟分析（英文）

The hydrodynamic analysis of a new semi-small waterplane area twin hull(SWATH) suitable for various applications such as small and medium size passenger ferries is presented. This may be an attractive crossover configuration resulting from the merging of two classical shapes: a conventional SWATH and a fast catamaran. The final hull design exhibits a wedge-like waterline shape with the maximum beam at the stern; the hull ends with a very narrow entrance angle, has a prominent bulbous bow typical of SWATH vessels, and features full stern to arrange waterjet propellers. Our analysis aims to perform a preliminary assessment of the hydrodynamic performance of a hull with such a complex shape both in terms of resistance of the hull in calm water and seakeeping capability in regular head waves and compare the performance with that of a conventional SWATH. The analysis is performed using a boundary element method that was preliminarily validated on a conventional SWATH vessel.     

Resistance and seakeeping numerical performance analyses of a semi-small waterplane area twin hull at medium to high speeds

The hydrodynamic analysis of a new semi-small waterplane area twin hull (SWATH) suitable for various applications such as small and medium size passenger ferries is presented. This may be an attractive crossover configuration resulting from the merging of two classical shapes: a conventional SWATH and a fast catamaran. The final hull design exhibits a wedge-like waterline shape with the maximum beam at the stern; the hull ends with a very narrow entrance angle, has a prominent bulbous bow typical of SWATH vessels, and features full stern to arrange waterjet propellers. Our analysis aims to perform a preliminary assessment of the hydrodynamic performance of a hull with such a complex shape both in terms of resistance of the hull in calm water and seakeeping capability in regular head waves and compare the performance with that of a conventional SWATH. The analysis is performed using a boundary element method that was preliminarily validated on a conventional SWATH vessel.     

Vibration-assisted decommissioning of a slip joint: Application to an offshore wind turbine

An alternative option to the traditional grouted joint for wind turbines is a direct steel-to-steel connection, also known as slip joint. In a recently published work, a proof of concept of a vibration-assisted installation and decommissioning technique of a slip joint was illustrated. Leveraging on the obtained results, the current study shows for the first time a decommissioning campaign carried out using a vibration-assisted technique applied on a prototype hydraulic wind turbine tower located in the North Sea, and connected to the monopile through a slip joint. The key aspect of the dismounting procedure is a priori knowledge of the resonance frequency clusters corresponding to the slip joint’s cross-sectional modes. Therefore, field hammer tests and experimental modal analysis were carried out inside the wind turbine tower. The identified frequencies and mode shapes were then compared with numerical ones estimated by a finite element model of the investigated structure. The comparison showed that a set of frequency clusters can be directly selected from a detailed numerical model. The preparatory work of the slip joint decommissioning was then executed by installing electric shaker devices, based on the dynamic identification results, and hydraulic jacks mounted inside the wind turbine tower. A first decommissioning trial was carried out in May 2019, while the final decommissioning was performed in August 2019. After analysing the measurements of the hydraulic pressures, displacements and excitation frequencies during the decommissioning campaigns, the results showed that it is possible to disconnect the slip joint if, in combination to a vertical static force, one of the identified cross-sectional mode shapes is excited. The vibration-assisted decommissioning proved to be a successful technique to dismount the connection in a controlled and straightforward manner.     

A hybrid analytical model of sterilization effect on marine bacteria using microbubbles interacting with shock wave

The present paper reports on a hybrid analytical model consisting of a biological probability model and a physical impact model proposed to predict the cell viability ratio of a sterilization method for marine bacteria using microbubbles interacting with a shock wave. The physical impact model of interaction between a microbubble and a shock wave is developed on the basis of the bubble motion analysis with experimental pressure data and a one-dimensional numerical simulation. An underwater shock wave produced by microbubble motion is simulated using a second-order finite differential scheme by means of bubble surface velocity variation obtained from Herring’s bubble motion equation, and the radius of the sterilized space around a microbubble is estimated by the critical pressure that just causes cell wall damage of marine bacteria. The sterilization effect predicted by the present hybrid analysis shows a good agreement with the bio-experimental result.     

船舶柴油机注汽涡轮增压系统

为了改善涡轮增压柴油机在低工况运行时,会出现增压压力不足、燃烧过量空气系数小和废气排温较高等固有特性,提出了一种利用增压器废气余热产生水蒸汽,并注入涡轮来提高增压器的压比和空气量的新方法。这种新方法可以改善涡轮增压器与柴油机的匹配,从而可提高柴油机的性能。试验结果证实了该方法的有效性。     

船用柴油机故障在线智能仿真诊断技术的应用研究

本文提出了一种船用柴油机性能故障在线自动诊断的新方法,把仿真以及神经网络技术直接应用于柴油机故障在线诊断系统,建立船用柴油机症状与故障样本集,作为神经网络故障诊断的专家知识库,以和柴油机故障在线诊断。尤其是对网络容错能力进行评估分析,并确定较有代表性的径向基函数ＲＢＦ网络分布常数Ｓｃ,从而提高故障诊断的及时性和准确率,减少误诊。     

Integrated optimisation design of a dynamic umbilical based on an approximate model

An optimised design of a dynamic umbilical requires an extreme cross-sectional stress to be maintained within an allowable limit and a fatigue life to be guaranteed to be sufficient. It should be noted that a dynamic umbilical is a typical geometric bi-scale structural system. It consists of a local cross-sectional scale and a global configuration scale, which are significantly different in terms of geometric sizes. In this study, we established an approximate model to achieve an optimised design of the dynamic umbilical by considering the parameters of local cross-sections and global configurations simultaneously. The design variables of a dynamic umbilical are independently identified and defined at both local sectional and global configuration scales in the approximate model. Furthermore, we selected the maximum tension strain and the maximum bending moment, for covering local and global properties, as the objectives to be minimised. The approximate model was observed to be effective in integrating the local and global responses into one loop so that the computational efficiency could be significantly increased. We implemented the optimisation framework on a dynamic umbilical with a lazy-wave configuration, which is considered to be a basis for a case study. Furthermore, we verified the feasibility and effectiveness of the integrated optimisation strategy by numerical simulations. Moreover, we compared the optimised dynamic umbilical properties with those without optimisation. It was observed that the fatigue life of the optimised dynamic umbilical was improved significantly, thereby indicating that the integrated optimisation methodology provides a new model and algorithm for an efficient design of the dynamic umbilical.     

Numerical computation of motions and structural loads for large containership using 3D Rankine panel method

In this paper, we present the results of our numerical seakeeping analyses of a 6750-TEU containership, which were subjected to the benchmark test of the 2 nd ITTC–ISSC Joint Workshop held in 2014. We performed the seakeeping analyses using three different methods based on a 3D Rankine panel method, including 1) a rigid-body solver, 2) a flexible-body solver using a beam model, and 3) a flexible-body solver using the eigenvectors of a 3D Finite Element Model(FEM). The flexible-body solvers adopt a fully coupled approach between the fluid and structure. We consider the nonlinear Froude–Krylov and restoring forces using a weakly nonlinear approach. In addition, we calculate the slamming loads on the bow flare and stern using a 2D generalized Wagner model. We compare the numerical and experimental results in terms of the linear response, the time series of the nonlinear response, and the longitudinal distribution of the sagging and hogging moments. The flexible-body solvers show good agreement with the experimental model with respect to both the linear and nonlinear results, including the high-frequency oscillations due to springing and whipping vibrations. The rigid-body solver gives similar results except for the springing and whipping.     

Experimental study on piston- and sloshing- mode moonpool resonances

An experimental study was performed on the piston- and sloshing-mode moonpool resonances of offshore structures. Two different geometries were considered to investigate the flow characteristics in a plain moonpool and a moonpool with a cofferdam. To examine the efficiency of a cofferdam for reducing the flow in a moonpool, three cofferdam geometries were tested. The plain moonpool presented violent flows as a result of the piston- and sloshing-mode resonances. However, the moonpool with the cofferdam introduced violent sloshing waves instead of the ascent and descent of the water column in the piston-mode moonpool resonance. Among three different cofferdam geometries, the model with a right triangle facing to the left on the top of the cofferdam was most effective in reducing the flow in the moonpool when compared with the other models.