水下潜器改进S面控制及控制系统仿真(英文)

S surface controllers have been proven to provide effective motion control for an autonomous underwater vehicle (AUV). However, it is difficult to adjust their control parameters manually. Choosing the optimum parameters for the controller of a particular AUV is a significant challenge. To automate the process, a modified particle swarm optimization (MPSO) algorithm was proposed. It was based on immune theory, and used a nonlinear regression strategy for inertia weight to optimize AUV control parameters. A semi-physical simulation system for the AUV was developed as a platform to verify the proposed control method, and its structure was considered. The simulation results indicated that the semi-physical simulation platform was helpful, the optimization algorithm has good local and global searching abilities, and the method can be reliably used for an AUV.     

特殊用途浮船坞作业控制系统研究

供舰船上排、下水用的浮船坞，是一种特殊用途的浮船坞，控制系统必须按其用途要求进行特殊设计。现介绍该特殊用途浮船坞作业控制系统的几个主要方面，包括：手动控制、计算机辅助手动控制、压载舱群液位计算机控制、配载计算及联机控制等。利用计算机实现对浮船坞的作业控制在国内尚无成功的先例，实现对压载舱群液位的控制、配载计算及联机控制等功能更是一次有益的探索。     

PLC及网络技术在高速公路供电系统中的应用

高速公路供电系统的安全可靠是确保高速公路机电设备正常运转、维护高速公路安全畅通的重要基础。在现场调研的基础上，根据高速公路供电系统的特点和具体条件，提出建立高速公路供电监视控制与数据采集（supervisory control and data acquisition，缩写：SCADA）系统。将可编程控制器应用于高速公路沿线各变电站（所）供电系统的监控；计算机用于各重点路段监控站和中心的管理；采用网络技术，构成分层分布式自动化系统，以满足现代高速公路供电系统的自动化发展需要。     

Power efficient formation configuration for centralized leader–follower AUVs control

Autonomous underwater vehicles (AUVs) have rapidly developed in the last few decades due to their autonomous properties in the investigation of an underwater environment. The goal of this paper is to develop a power efficient formation control for the cooperative motion of AUVs with a support vessel as a leader. In this paper, a kinematic algorithm for the joint motion of an AUV with a support vessel was developed and that algorithm was expanded for the formation of AUVs. The AUV yaw, surge and sway control loops were designed for that purpose. The complexing navigation system structure for the AUV was also developed. Simulation results demonstrated efficiency of the proposed kinematic algorithm for the joint motion of AUVs. Also, influence of lateral ocean current was considered. After development of the centralized leader?Cfollower formation control for the group of AUVs with a support vessel as a leader, we optimized a formation configuration in terms of power efficiency. Drag forces caused by AUV motion in the water can significantly influence power consumption. We investigated the relationship between the AUV's formation configuration, underwater coverage efficiency, communication quality and power consumption. As a result of research, we proposed a power efficient formation configuration for typical underwater operations. As a result, the effect of the AUV formation configuration on the power consumption was investigated and a trade-off solution for the optimal AUV positions in formation with minimal energy consumption, high coverage efficiency and small communication power consumption was derived.     

大型冷却水系统调试装置设计

针对船坞在非注水状态下,在建邮轮根据不同工况进行冷却水系统调试时,提供足量冷却水,并保证邮轮海水缓冲舱内水压低于最大设计承压的问题,以国内首制豪华邮轮的冷却水系统调试需求为例,针对邮轮设备和系统冷却水系统的冷却水需求量和工作压力,分析计算供水量和压力的影响因素,提出冷却水系统调试装置的设计方案,确定冷却水供给量和压力的技术参数。分析结果表明,江水潮位对船坞内邮轮冷却水系统的调试具有很大的影响,低潮位时会造成供水量和压力不够,高潮位是则会造成邮轮设备和系统超压,提出的方案可以有效解决上述问题。     

三峡库区锚地浮箱岸电设施的设计

针对三峡库区大水位差下的船舶供电需求,基于浮箱能够随水位同步变化的原理,设计了一套浮箱岸电设施。该设施利用浮箱在导向架内的上下浮动以适应不同的水位,通过上下两层的结构适应不同干舷高度下船舶的供电;利用雷达式水位计获取水位信息,将其传递给电缆卷筒的变频控制器,通过控制系统的逻辑编辑,从而实现电缆在水位发生变化时的准确收放。通过对现有技术的分析,论证了该系统的可行性和科学性,为工程的设计提供理论支撑。     

浮船坞供电系统改造的效益分析

中海工业有限公司菠萝庙船厂浮船坞供电系统改造成功,在生产、安全与环保等层面上均取得明显的效益。总结相关的数据可为同类型船厂提供参考。     

滑动变压器在非接触电能传输系统中的研究

滑动变压器是自动化码头非接触感应电能传输系统的核心部件,可以实现高速货物运输小车的安全供电。根据滑动变压器气隙较长、漏磁较大的结构特点,建立滑动变压器基于耦合电感理论的状态空间数学模型,以及基于通用软件MATLAB/SIMULINK的仿真模型。该模型参数简明,使用方便。对各种补偿拓扑和谐振频率进行对比分析,验证了模型的有效性,同时为系统补偿方案和工作频率的选择了提供可靠依据。     

客船坞内临时消防水系统设计

针对干船坞内在建大型客船缺少消防系统保护的问题,以某型正在干坞内建造的大型客船为例,进行临时消防水系统型式、消防水箱容量、消防水泵排量和压力、稳压系统分析设计,以陆用建设消防规范作为参照,对比系统计算结果和设计方案,结果表明系统的设计满足规范要求,可以在实际建设工程中起到初期火灾的扑灭及保护的作用.     

深水AUV安全系统的设计与实现

安全性是AUV(Autonomous Underwater Vehicle)系统研究的重要内容。为解决传统设计只能对预先估计和实时监测故障作出反应等问题,依托实体深水AUV,设计出一套新的安全系统,构建主控单元和应急模块的安全冗余结构。主控单元选用基于PC/104总线的工控机设计,应急模块采用C8051F410设计。大量模拟故障仿真实验和AUV实际下水实验表明,该安全系统不仅扩大了故障或危险的应对范围,而且将各应急情况下AUV的抛载执行率提高至100%,可有效保障AUV系统的安全。     

极寒地区大型倒T型坞门的设计与研制

介绍极寒地区大型倒T型坞门的项目背景，对其门体结构进行优化，从设备要求和工况方面进行系统设计。该型坞门配备的坞门管路系统、坞门外部防冰冻系统、坞门内部水舱防结冰系统、坞门内部干舱供暖系统和坞门电控系统满足极寒地区的作业要求，可为类似设备的设计研制提供较大参考价值。     

嵌入式船用变频供水控制系统

随着船舶自动化和智能化的不断发展,船舶供水系统对控制系统将提出更高的要求。相对于P L C变频供水控制系统而言,嵌入式变频供水控制系统具有成本低廉、功耗低、体积小和扩展灵活等特点。文章设计了一套嵌入式船用变频器供水控制系统,具有液晶屏手动和变频控制、本地控制、恒压设定、运行数据监测等功能。该系统经实验室安装测试后基本达到预期功能,为后续进一步优化设计奠定了坚实的基础。     

机载布放式AUV入水冲击仿真研究

机载布放式AUV是利用载机运送至特定海域上空,在一定条件下通过空投方式进入水下,完成预定工作的自主水下航行器。AUV入水时会受到巨大的载荷冲击,严重时会导致机体折断、元器件失灵,甚至引起弹道失控。为此,文章采用计算流体力学(Computational Fluid Dynamics,CFD)方法对机载布放式AUV的入水冲击问题进行了数值仿真研究。对不同入水速度、不同入水角度下AUV受力过程进行了计算,得出了不同入水条件下的速度响应曲线和压力响应曲线,可为机载布放式AUV的机体结构设计和投放条件研究提供参考。     

基于Matlab的AUV近水面运动模型的建立与仿真

该文运用矢量方法对自主式水下航行器(AUV)近水面的六自由度运动方程进行了推导，得到了一个适于在Matlab环境中仿真的高度矢量化的空间运动模型，并用在Matlab的仿真工具箱Simulink中建立的AUV近水面的六自由度运动仿真模块对AUV的近水面运动进行了仿真，在此基础上分析了波浪力对AUV的影响。该模型的建立和仿真为AUV近水面的稳定性分析和控制系统的设计提供了便利的工具。     

供热系统中的水力失调与自力式流量调节阀的应用

分析了供热系统中出现水力失调的原因,介绍了几种解决水力失调问题的措施,通过对比分析,提出采用自力式流量调节阀是解决热网水力失调和实现节能降耗的有效途径。     

AUV均衡系统设计及垂直面运动控制研究

针对AUV传统均衡调节系统存在难以克服的缺陷而无法实用的问题,设计了一种新型液压均衡系统。该系统主要由油箱和安装在AUV轴线上的两个油囊组成,通过调节油箱和油囊的油量来调节AUV的姿态和浮态。同时在简化AUV垂直面运动模型的基础上,构建了深度控制、纵倾控制和浮态控制模型,并基于PID和均衡系统设计了深度控制、纵倾控制和浮态控制方法。仿真结果表明在无干扰和有干扰两种情况下,设计的均衡系统能有效控制AUV的垂直面运动;建立的AUV垂直面运动控制模型符合AUV运行特性;PID控制算法适合海流干扰下的AUV均衡控制,且具有良好的控制品质。     

新型发电机组负载测试兼码头供电双向变频电源

随着舰船朝大型化、自动化方向发展,舰船的发电机组数量和容量也急剧增大。为保证船舶的安全运营,船级社规范要求对发电机组进行负载试验和并联运行试验。新型发电机组负载测试兼码头供电双向变频电源不仅可用于船舶的发电机组负载测试试验,同时还可实现电能的回收利用,作为变频电源向系泊试验船舶提供电能,减少对船厂周围环境造成的污染,具有较好的经济效益和社会效益。     

Designing Electrical Power Systems for Survivability and Quality of Service

The primary aim of the design of a shipboard electric power system has traditionally been survivability and continuity of the electrical power supply. Survivability relates to the ability of the power system, when damaged by a threat, to support the ship's ability to continue its missions. Power continuity relates to the ability of the power system to reliably provide power to ship systems under normal operations. This paper proposes new metrics for survivability and continuity of service that enable a better definition of power system requirements linked to the operational needs of the ship. For survivability, the threats for which a ship is designed are its design threats, and the required residual capability following damage from a design threat is the design threat outcome. Quality of service serves as a metric of the continuity of the electrical power supply under normal operation. Quality of service is measured in terms of a mean time between service interruption. A service interruption is defined as any interruption in the supply or deviations outside normal bounds of power quality that prevent a load from performing its assigned function.     

水下航行器多普勒导航系统误差辨识与修正

水下航行器(Autonomous Underwater Vehicles,AUV)在水下往往采用航位推算定位方式.由于存在传感器误差,航位推算的定位误差是随着时间发散的,而直接准确检测这类误差非常困难.对多普勒导航系统进行导航误差分析,简化航位推算算法,在此基础上推导出一种新的辨识AUV导航误差参数的方法.仿真结果表明,该算法能够准确辨识AUV导航误差参数向量,可以有效提高AUV自主导航精度,且方法合理、简单.     

AUV hull shape design based on desired pressure distribution

The role of autonomous underwater vehicles (AUVs) is more important in the quest to reach the deep seas today than ever before. The hull shape of the AUV can differ depending on the special mission considered for the vehicle. Therefore, different types of algorithms for the body shape design of these kinds of vehicles are being developed every day. In the current work, a new procedure has been proposed for designing the body shape of an AUV. Using this method which is based on a desired pressure distribution, it is possible to obtain the desired hull shape design. Artificial neural network algorithm has been used for this purpose. Preliminary data for training and testing of the network have been obtained from CFD simulation of the flow around the body of Hydrolab500 AUV. In this regard, pressure distribution has been evaluated around each body by changing the nose and tail profile of AUV. The results obtained from this research indicate that a body correlated to the desired pressure can be designed properly.