布置方案对近海小型无人监测船波浪运动的影响

以一艘近海小型双体无人监测船为例,建立该双体无人监测船模型,通过使用基于平面势流理论的二维切片法,对无人监测船在不同布置方案下的运动响应情况进行计算分析,得出布置方案与无人监测船运动响应间的关系。研究结果表明:吃水深度、惯性矩对小型无人监测船在波浪中的运动性能影响明显,应在一定范围内酌情进行选取;重心高度对小型无人监测船在波浪中的运动性能影响不大,设计时应主要从稳性方面进行考虑。     

Obstacle avoidance of unmanned ship swarm based on virtual navigator and improved Hooke's law北大核心CSCD

[目的]针对无人船集群规避障碍物的问题,提出一种基于虚拟领航者和改进胡克定律的弹性集群编队控制方法。[方法]首先,根据障碍物的长和宽得到其外接椭圆,按照长宽比向外扩展出虚拟碰障区、避障反应区、自由航行区,实现水面避障物模型的简化;其次,基于虚拟领航者和改进胡克定律,对编队各成员之间、各成员虚拟领航者之间的相对距离和速度予以约束,采用坐标形式设置编队队形,构建弹性编队模型,并基于障碍物的环形斥力场来实现单无人船的避障,以及在弹性集群编队的组织下实现无人船集群的避障;然后,通过优化处理无人船的航行过程,消除编队及避障过程中的“徘徊”和“振荡”等现象,使各无人船的运动更加平滑;最后,运用Matlab软件对由4艘无人船组成的集群编队进行仿真实验。[结果]实验结果表明,编队可成功绕过设置的所有障碍物,验证了所提方法的有效性和可行性。[结论]该方法可实现无人船集群对水面障碍物的规避,具备在一定复杂环境下的通过能力,可为无人船集群避障的应用及研究提供参考。     

“通程”号超大型耙吸挖泥船开发设计

阐述了708研究所自主开发设计的国内第一艘超大型挖泥船,采用全通甲板,适用于深、远海作业;泥舱舱容达18374m3,最大挖深可达85m,为目前中国设计建造的最大舱容、最大挖深的深水疏浚工程船;疏浚设备(即:泥泵、水下泵、高压冲水泵等)采用全变频电力驱动,泥舱首次采用箱形泥门形式。     

Analysis of characteristics of foreign unmanned surface vehicle swarm combat application and proposed countermeasures北大核心CSCD

无人船(USV)集群作为未来海上军事运用的重要组成力量,是各国海上无人装备的重要发展方向。首先,通过梳理总结当前国外无人船集群发展战略规划与运用现状,对无人船集群作战关键技术进行归纳分析,从集群自组网通信、战场态势感知、集群协同任务分配等3个方面剖析无人船集群相关技术的研究进展;然后,对无人船集群在军事上运用的典型样式和主要效益进行分析及研判;最后,总结分析当前应对无人船集群的难点,并对无人船集群应对的技术发展予以展望。     

Investigation on fatigue characteristics of transparent submersible manned cabin structure

Fatigue life prediction of transparent submersible manned cabin (TSMC) structure is investigated. Firstly, a simplified mechanical model of a cylindrical shell-hemispherical shell (CS-HS) structure is established, and the strength characteristic of the TSMC structure is gained, as well as deflections and displacements are obtained by solving the model with the non-moment theory and moment theory. Secondly, the load history of the TSMC structure is analyzed, and the load spectrum of this structure is got by analyzing and fitting the existing diving data. Finally, a method of nonlinear virtual interval division technique for the load spectrum is first presented. The predicted results have excellent agreement with the experimental data. The results show that the working depth of the large-deep deep manned cabins is within the range of 0 m–500 m, while the load history is composed of the submersible loading-uploading-unloading and payload-uplifting-unloading. In addition, the load spectrum shows that the number of dives is within the range from 299.7 m to 432.9 m. The proposed model can efficiently provide a guideline of the design and manufacturing of the transparent submersible manned cabin structure.