四元数法在AUV六自由度仿真中的应用

AUV六自由度仿真几乎无一例外都是基于欧拉角方法来求解运动微分方程,这种方法可以很直观地得到AUV的位置和姿态角,不过在纵倾角±90°的情况下会产生奇异点,使仿真无法进行下去.为克服上述不足,采用了四元数法取代欧拉法.仿真结果表明,四元数法可以进行任意角度的仿真.     

圆柱壳在水下爆炸载荷作用下的动响应分析

主要研究了在无限水域中两端简支的圆柱壳受球形炸药爆炸冲击载荷作用下的动响应特性.首先,计及流-固耦合作用的影响,文中由Hamilton变分原理推导出了圆柱壳受爆炸载荷作用的控制方程.然后分别将位移函数的Fourier形式代入方程中,运用迦辽金方法进行化简,最后在时间域上使用四阶经典龙格-库塔方法,圆柱壳在某一时刻的动响应就可以得到.通过将计算结果与有限元计算软件MSC.DYTRAN的计算结果进行比较,可以证明文中计算结果的正确性和可靠性.     

江底隧道防排水关键技术设计与应用

水下工程的防排水设计是工程设计中的关键,依托实际工程设计对地下工程防排水设计进行研究。提出了水下工程设计的关键技术,并充分考虑现有防水材料的设计使用年限,提出现有防水设施失效后的防水补求措施。对类似的水下工程的防排水设计具有重要的指导和参考意义,希望以此推动水下工程建设的进步和发展。     

浅水干式沉箱水下生产系统爆炸风险分析

浅水干式沉箱水下生产作为一种全新海上油气田开发模式，为浅水受限海域开发提供科学的解决方案。采用危险源辨识(Hazard Identification, HAZID)分析，识别干式沉箱水下方案的危险因素。引入定量爆炸风险分析，对干式沉箱潜在的烃类气体泄漏及爆炸风险进行分析。浅水干式沉箱水下生产系统最大爆炸超压为0.017 8 bar,对应累计概率为2.78×10⁷/a,从风险角度来看，爆炸超压值和概率在可接受范围内。分析方法可准确评估浅水干式沉箱水下生产系统各设施的风险水平，研究内容可为干式沉箱防爆设计及运维阶段的人员救生、逃生工作提供参考依据。     

水下爆炸数值模拟联合算法求解结构稳态响应

在研究水下爆炸作用下加筋板架的稳态响应方面,以往的研究主要利用瞬态显式算法,得到的稳态响应结果存在一定的精度缺陷。提出一种改进的水下爆炸数值模拟方法。该方法利用ABAQUS/Explicit Standard算法,针对瞬态显式与稳态隐式静力分析,建立联合数值模拟方法。利用该方法分析某船体加筋板架的“瞬态稳态”响应。结果表明:联合“瞬态显式稳态隐式”算法的仿真结果与试验结果相差在10%以内,说明该方法可用于水下爆炸作用下加筋板架结构的响应分析,且采用联合“显式隐式”算法得到的结果更接近试验值,误差降低了39.8%。     

Seabed collision emergency decision-making of AUV based on safety domain model北大核心CSCD

［Objectives］To ensure safety and prevent seabed collisions in complex unknown underwater environments, this study proposes a seabed safety domain model and tiered emergency response strategies. ［Methods］A vertical motion simulation model is established and verified by surpassing the test results, then used to calculate the active and passive safety domain distance of an autonomous underwater vehicle (AUV), thereby establishing a seabed safety domain model. An AUV emergency control system and emergency strategies are then built on the basis of the dynamic safety domain model. The trim and distance from the seabed of the AUV are used to calculate the current and future risk factors. Based on the weighted sum, the comprehensive risk factor is employed to provide the AUV with emergency response strategies.［Results］Lake tests with the AUV sailing at a fixed depth and height show a strong dependency of the comprehensive risk coefficient on seabed height when it is close to the boundary of the AUV's active safety domain. In the opposite case, there is a weak dependency of the comprehensive risk coefficient on seabed height. The results show that the proposed AUV emergency control system can reduce emergency false alarms caused by frequently changing riverbed heights and sailing altitudes close to the seabed. In such cases, reasonable emergency strategies can be realized under complex rough terrain.［Conclusions］The AUV seabed safety domain model and tiered emergency response strategies based on vertical motion equations proposed herein can be applied to evaluate seabed collision risk in various cases. Finally, this paper provides emergency response strategies to avoid seabed collision accidents, which can enhance the safety of AUV navigation. © 2023 Chinese Journal of Ship Research. All rights reserved.