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论文研究了半潜式航行器的运动特性,建立了半潜式航行器的运动学模型,并从深度控制和回转航行两个方面对半潜式航行器的运动特性进行半实物仿真。半实物仿真结果表明:前水平舵是影响深度控制的主要因素,并得出前水平舵舵角和深度的对应关系;回转航行研究了航行器的垂直舵角、航速和回转半径的关系,得出了在一定航速下,不同垂直舵角下的回转半径。此研究准确把握了半潜式航行器的运动规律,为半潜式航行器的设计以及精确控制提供了理论基础。 相似文献
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Previous studies have shown that, in a diverge-merge network with two intermediate links (the DM network), the kinematic wave model always admits stationary solutions under constant boundary conditions, but periodic oscillations can develop from empty initial conditions. Such contradictory observations suggest that the stationary states be unstable. In this study we develop a systematic approach to investigate the stability property of stationary states in this and other networks within the framework of network kinematic wave theories. Based on the observation that kinematic waves propagate in a circular path when only one of the two intermediate links is congested, we derive a one-dimensional, discrete Poincaré map in the out-flux at a Poincaré section. We then prove that the fixed points of the Poincaré map correspond to stationary flow-rates on the two links. With Lyapunov’s first method, we demonstrate that the Poincaré map can be finite-time stable, asymptotically stable, or unstable. When unstable, the map is found to have periodical points of period two, but no chaotic solutions. We further analyze the bifurcation in the stability of the Poincaré map caused by varying route choice proportions. We apply the Poincaré map approach to analyzing traffic patterns in more general (DM)n and beltway networks, which are sufficient and necessary structures for network-induced unstable traffic and gridlock, respectively. This study demonstrates that the Poincaré map approach can be efficiently applied to analyze traffic dynamics in any road networks with circular information propagation and provides new insights into unstable traffic dynamics caused by interactions among network bottlenecks. 相似文献
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王欢 《武汉船舶职业技术学院学报》2010,9(6):26-28
随着海洋石油工业由浅海向深海的转移,动态定位系统在海洋工程船舶中的应用也越来越广泛,动态定位的级别也越来越高。本文就世界首艘圆筒形钻井平台某深海钻井平台的动态定位系统进行介绍,动态定位在海洋工程船舶上的应用将得到快速地推广,对航海科技的进步和航海安全水平的提高,必将产生深远的影响。 相似文献
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我国与德国限界标准的异同和特点 总被引:2,自引:1,他引:1
通过对我国《地铁限界标准》(CJJ96—2003)和德国城市轨道限界暂行规范(BOStrab的对比和分析,阐述这两种标准的各自特点,以期进一步提高我国地铁限界的理论水平。 相似文献
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为弥补网络RTK(real-timekinematic)定位模式的不足,提出了一种基于Internet的中央差分定位系
统cenDPS.该系统基于现有网络RTK 的工作环境,由cenDPS服务器端完成流动站端内置的差分计算功
能,大大降低了RTK定位对流动站接收机性能的要求.这种集中式的差分定位系统可实时监测流动站的精确位
置,是位置服务(LBS)领域的重要研究内容和发展方向.试验证明了cenDPS的可行性,系统测试的平均初始化
时间为73s,实时坐标解的精度为cm 级. 相似文献