Stochastic averaging for estimating a ship roll in random longitudinal or oblique waves

In this work, the C11 container ship is taken as an example to analyze its rolling performances in random longitudinal or oblique waves. Firstly, a dynamic model of C11 roll in random waves is improved, and it is verified by the model test and numerical simulation. Mathematically, this dynamic model is a one-dimensional stochastic differential equation with random parametric (and external) excitation. Secondly, an enhanced stochastic averaging method is proposed to solve this stochastic differential equation. The validity of the solutions was verified by Monte Carlo simulation. At last, the probabilistic characteristics of the extreme rolling response were investigated based on the calculated results using enhanced stochastic averaging method. According to the analysis, some advices for ship's manoeuvring can be put forward when ships are navigating in random waves.     

基于侧翻强度模拟分析的出口客车车身骨架结构优化设计

通过利用客车侧翻强度模拟分析结果对车身骨架结构进行优化设计的应用案例介绍,为开展客车侧翻强度模拟计算和认证工作提供思路和参考。     

深潜救生艇位姿控制系统研究

从硬件和软件两方面详细论述了深潜救生艇试验载体的位姿控制系统体系结构.针对深潜救生艇在对接过程中对倾角能力的特殊要求,引入压载水舱和泵阀系统进行纵横倾调节,通过控制泵、阀的开关时间控制试验载体纵横倾的大小,使试验载体的纵横倾能力分别达到了30°和15°.为了解决试验载体在大倾角定位过程中的推力分配问题,将控制器解算得到的力(矩)转移到随体坐标系下进行分析,简化了推力分配的复杂程度.最后通过水池试验验证了整个位姿控制系统的可行性和可靠性,并对系统有待完善的地方给出了一些改进建议.     

自动舵电路板神经网络故障诊断方法

为了实现对自动操舵仪电路故障的自动检测和诊断、达到降低维修成本和提高维修效率的目的,采用神经网络的方法,通过在电路板的输入端输入不同的测试序列,仅在电路板的输出端进行数据采集和特征提取,然后利用神经网络进行故障诊断,从而达到自动判断电路板好坏和定位常见故障元件的目的,避免使用探笔或夹具时因接错位置而不能定位故障的问题。采用该方法建立的故障诊断系统操作简单,使用方便,具有智能化、可视化的特点。     

二阶灰色神经网络在船舶横摇预报中的应用

为了提高船舶的耐波性和适航性、对船舶横摇进行有效准确预报,提出了将灰色系统理论和神经网络进行有机结合的二阶灰色神经网络预报模型。介绍了二阶灰色预报模型,采用神经网络映射的办法构建灰色神经网络预报模型,并介绍了神经网络学习机制。另外,以某舰船横摇运动时间序列预报为例对模型进行仿真验证,有效改善了二阶灰色模型较大的预报偏差。仿真结果表明,GNNM(2,1)模型能准确预报船舶横摇运动,具有更高的预报精度和更好的数据稳定性。     

Monocular visual servo-based stabilization control of underactuated unmanned surface vehicle北大核心CSCD

［Objectives ］ Aiming at the accurate posture stabilization problem of an under-actuated unmanned surface vehicle (USV) in GPS-denied environments, a monocular visual servo stabilization control scheme is proposed based on homography.［Methods］By virtue of the homography decomposition technique, posture errors with an unknown scale factor are directly reconstructed from current and desired images, which thoroughly removes the calibration of extrinsic camera parameters and priori information on visual targets; with respect to the under-actuation constraint, a periodic function to persistently excite the yaw angle is incorporated into the continuous time-variant output feedback controller, allowing the USV to be stabilized in the absence of image depth, movement velocities and model parameters.［Results］Under the framework of the Lyapunov theory, the closed-loop visual servo system of the USV is rigorously proven to be asymptotically stable by Barbalat lemma.［Conclusions］By installing an onboard monocular camera, USV posture errors can be precisely stabilized with the aid of the proposed visual servo strategy, providing significant technique support for practical applications including docking, berthing, dynamic positioning, etc. © 2022 Journal of Clinical Hepatology. All rights reserved.     

某液化天然气运输船推进器选型研究

介绍30 000 m3LNG运输船的功能定位及推进器选型的背景,对4种备选推进配置方案的组成及其港内操纵性、建造成本等进行比较分析,最终确定采用全回转机械传动的舵桨推进方式,该方案的各项技术指标均能满足本船的功能要求。     

货舱内液化矿砂晃荡机理及数值计算研究

装载含水量较高矿砂的船舶在长时间摇摆和振动时,装载的矿砂会出现液化现象,其中的水分会析出,并在矿砂表面形成自由液面.受液化矿砂的粘性流动及表层液面的影响,运输该类货物的船舶易发生倾覆事故.建立了载有液化矿砂的三维货舱数值模型,探讨了货舱晃荡时矿砂液面、壁面载荷以及货舱横摇力矩的变化规律等;结合横摇实验现象对液化矿砂晃动机理和危害性进行了初步验证.结果表明：货舱内粘性矿砂的流动滞后于货舱的横摇运动,因而货舱横摇力矩的变化与货舱运动存在着相位滞后的关系,其最大值发生在货舱处于最大晃动角度后返回到平衡位置的过程中;货舱回摇过程中,倾侧的液化矿砂不能及时回流,会在一侧产生堆积,进而增加船舶倾侧力矩,最终可能会导致船舶倾覆.     

基于CFD技术的节能舵球节能效果数值预报

基于CFD技术,分别预报了单个螺旋桨、桨舵组合的水动力性能,并将计算结果与试验值比较,结果显示预报结果与试验值吻合良好.在此基础上,对螺旋桨-舵-舵球组合进行了计算,并比较了舵球设计参数对节能效果的影响.计算结果表明,舵球可以有效地提高螺旋桨的效率,在舵球直径与螺旋桨直径之比为0.292时,其节能效果最好,达7.66％.     

“导圆”节点在散货船中的应用

以“导圆”节点在散货船上的应用为载体,对比国内和日韩的典型散货船节点设计,阐述其优缺点.以期在后期的结构设计中能参考借鉴,实现降低建造成本和提高生产效率的目标.