自行加榴炮射击误差的仿真研究

射击精度可以用射击误差表示,依据某自行加榴炮射表,结合弹道理论分析方法,使用蒙特卡洛法对其射击精度进行误差特性仿真,找出影响射击精度的主要误差来源,此方法可以推广应用到其他武器系统。     

水下目标深度测量误差源分析

首先研究了在深海环境下,采用基于三阵元垂直线列阵的水声探测系统进行水下目标深度测量的基本原理.然后从随机误差和阵元配置偏差的角度,对水下目标深度测量的误差源进行了理论分析,并推导了相关公式.此外,对于相干多途水声信道干扰给水下目标深度测量精度的影响,也作了初步的理论分析.通过仿真实验,总结出各误差源对水下目标深度测量精度影响的规律,研究结果为进一步开展水下目标深度测量研究、提高测量精度奠定了基础.     

On the numerical accuracy of the prediction of resistance coefficients in ship stern flow calculations

This article presents a study on the accuracy of the numerical determination of the friction and pressure resistance coefficients of ship hulls. The investigation was carried out for the KVLCC2 tanker at model- and full-scale Reynolds numbers. Gravity waves were neglected, i.e., we adopted the so-called double-model flow. Single-block grids with H–O topology were adopted for all the calculations. Three eddy viscosity models were employed: the one-equation eddy viscosity and the two-equation models proposed by Menter and the TNT version of the two-equation k-ω model. Verification exercises were performed in sets of nearly geometrically similar grids with different densities in the streamwise, normal, and girthwise directions. The friction and pressure resistance coefficients were calculated for different levels of the iterative error and for computational domains of different size. The results show that on the level of grid refinement used, it is possible to calculate the viscous resistance coefficients in H–O grids that do not match the ship contour with a numerical uncertainty of less than 1%. The differences between the predictions of different turbulence models were larger than the numerical uncertainty; however, these differences tended to decrease with increases in the Reynolds number. The pressure resistance was remarkably sensitive to domain size and far-field boundary conditions. Either a large domain or the application of a viscous–inviscid interaction procedure is needed for reliable results. This work was presented in part at the International Conference on Computational Methods in Marine Engineering—MARINE 2007, Barcelona, June 3–4, 2007.     

深水试验水池大型升降平台多电机同步控制

深水试验水池是开展深海装备开发必不可少的试验手段,大型升降平台是其中的关键设备.大型高精度、高转速传动系统的多电机同步控制是最为核心的问题之一.同步控制算法的优劣直接影响系统的性能与可靠性.提出深水试验水池大型升降平台多电机同步协调控制系统构成方案,并提出一种新的基于拉力死区误差均衡及中心耦合误差的升降平台多电机同步协调控制策略,实现了拉力控制和位置控制的解耦;同时,提出了多电机控制的升降平台仿真系统,其仿真结果表明:所提出的控制策略同步稳定性能高、收敛速度快,具有很高的应用价值.     

新型集装箱汽车衡称重技术与误差分析研究

为了对一辆集卡装载的2个20英尺集装箱进行分别称重,设计了新的汽车衡结构,推导出计算公式并进行实验验证,得到了一种可以保证作业安全且能为港口和货主接受的集装箱汽车衡称重方法。     

动力定位船舶全速度路径跟踪CB导引自适应闭环控制

针对仅使用槽道推进器提供横向推力的动力定位船舶路径跟踪控制问题,建立慢变环境干扰影响下的非线性船舶数学模型,设计带有自适应干扰补偿的反步控制算法来消除环境干扰的影响。引入平行目标接近(CB)导引算法为跟踪控制生成期望速度矢量信号,通过与所提出的自适应反步控制算法相结合,得到不受船舶驱动特性限制的全速度范围动力定位船舶导引跟踪控制算法,应用李雅普诺夫稳定性理论证明系统跟踪误差渐进收敛到零。仿真结果表明通过调整导引算法参数可以调节船舶跟踪过程表现,并可以得到较好的控制精度。     

Investigating micro-simulation error in activity-based travel demand forecasting: a case study of the FEATHERS framework

Activity-based models of travel demand have received considerable attention in transportation planning and forecasting in recent years. However, in most cases they use a micro-simulation approach, thereby inevitably including a stochastic error that is caused by the statistical distributions of random components. As a consequence, running a transport micro-simulation model several times with the same input will generate different outputs, which baffles practitioners in applying such a model and in interpreting the results. A common approach is therefore to run the model multiple times and to use the average value of the results. The question then becomes: what is the minimum number of model runs required to reach a stable result? In this paper, systematic experiments are carried out using Forecasting Evolutionary Activity-Travel of Households and their Environmental RepercussionS (FEATHERS), an activity-based micro-simulation modelling framework currently implemented for the Flanders region of Belgium. Six levels of geographic detail are taken into account. Three travel indices – average daily activities per person, average daily trips per person and average daily distance travelled per person, as well as their corresponding segmentations – are calculated by running the model 100 times. The results show that the more disaggregated the level, the larger the number of model runs is needed to ensure confidence. Furthermore, based on the time-dependent origin-destination table derived from the model output, traffic assignment is performed by loading it onto the Flemish road network, and the total vehicle kilometres travelled in the whole Flanders are subsequently computed. The stable results at the Flanders level provides model users with confidence that application of FEATHERS at an aggregated level requires only limited model runs.     

船舶涂装爬壁机器人系统研究及集成应用

提出一种大型船舶开放性工作面涂装爬壁机器人系统理论设计与应用方法,研究系统本体运行机理并获得满足工作特性的两项必要条件,即轮辐磁吸力及双轮驱动力矩的极小值条件。建立涂装机器人系统的功能组成及控制机理,并结合开放性工作面开展无线定位及自主规划方法研究,形成能够适应喷涂作业的机器人在线路径规划算法。并结合实际开展涂装系统集成应用测试,检测并采集系统运行过程中动力学参数,系统空间坐标轨迹路线等,实现了涂装工作路径的实时在线规划。通过试验验证了文中的系统力学特性分析及定位方法的有效性。     

凿岩台车臂定位系统与液压臂结构不匹配问题研究

为解决凿岩台车臂定位系统与液压臂结构不匹配而出现液压臂下降时抖动、平动速度慢、泵压过高等问题,系统分析液压臂下降时抖动的原因,指出液压臂下降时抖动是由于液压臂下部液压缸平衡阀的先导油源压力不稳引起的,并通过试验证实,如果下降过程中下部液压缸平衡阀的先导油源压力一直大于其开启压力,液压臂能够平缓下降。可以通过提高液压臂油源压力和增大下部液压缸回油背压来解决液压臂下降抖动问题。     

“海洋石油201”深水起重铺管船动力定位系统设备配置研究

深水起重铺管船是深水油气资源开发的重要装备,其定位系统是起重铺管船的关键设备之一.本文对海洋工程装备动力定位系统的配置选型做了分析研究,并结合分析结果介绍了我国首艘深水起重铺管船“海洋石油201”的动力定位系统设备配置情况.