考虑横向漂移的船舶路径跟踪自抗扰控制

针对船舶运动系统中内部动态不确定和外部干扰等问题,进行了欠驱动船舶路径跟踪的自抗扰方法研究。利用Backstepping设计参考航向角,并通过线性扩张状态观测器对流干扰和横向运动引起的横向漂移进行估计。其次,根据自抗扰算法对航向进行控制,采用线性扩张状态观测器对外界干扰及内部不确定项进行估计。最后仿真结果表明,在风流干扰下所设计的控制器仍能使船准确地跟踪上参考路径,验证了所提控制方案的有效性。     

Point-to-point speed enforcement systems: Speed limits design criteria and analysis of drivers’ compliance

Point-to-point (P2P) speed enforcement is a relatively new approach to traffic law enforcement. Its technology allows vehicles whose average speed exceeds the speed limit over the controlled section to be fined. It therefore encourages compliance over distances longer than those where spot enforcement policies have been in place.In this paper, a procedure for consistently setting speed limits with such enforcement systems is proposed. Such a method has been applied to design the speed limits on two motorways in the district of Naples, Italy, where P2P enforcement systems became operational in 2009 and 2010. The speed limits, which were set using the Italian geometric design standard to assess vehicle stability and stopping sight distance, have been compared with those provided by using well-known international standards.The impact of the newly designed speed limits and of the P2P enforcement system on drivers’ speeding behaviour has been quantified for each highway section and vehicle type. In fact, accurate measurements of the average travel speeds of each vehicle crossing the enforced sections, before and after the activation of the system, were available. The migration from the old speed limits with spot speed enforcement to the new approach resulted in a notable increase in drivers’ compliance to the speed limits with a remarkable decrease in both the average of individual speeds and in their standard deviation.In addition, the analysis of 3 years of data shows that a gradual adaptation of drivers’ behaviour to the system took place. In particular, a decreasing compliance to the speed limits points to a non-optimal system management. Finally, the results of a revealed preference survey allowed us to make a behavioural interpretation regarding the significantly different impacts measured on the two motorways.     

海上施工定位方法及精度分析

论述了海上工程定位的方法。从计算方法和精度讨论入手 ,阐述了选取要求及注意事项 ,给出了相应的计算和改正计算公式     

未知时变扰动和输入饱和下的智能船舶鲁棒非线性控制

复杂海况下环境多变并且船舶具有多耦合、强非线性的特点,针对智能船舶定位控制问题,考虑在未知时变扰动和输入饱和约束之下船舶的定位控制问题,结合非线性扰动观测器提出一种带辅助动态系统的鲁棒非线性控制算法。通过Lyapunov理论证明了所提出的非线性扰动观测器与控制器结合后闭环系统的稳定性和信号的一致最终有界性。利用非线性扰动观测器对环境中存在的海浪扰动进行有效的估计处理。最后,通过仿真验证了所提出的控制算法不仅能保证船舶期望的位置和艏向,而且提高了控制速度,具有较好的控制性能。     

混合对转推进系统设计与实船应用研究

为全面深入了解混合对转推进系统实船安装对船舶性能影响,为数值仿真和性能预报提供实船参考数据,以集装箱运输船为应用对象,提出了一种把吊舱推进器集成在挂舵臂上的混合对转推进系统(CRP-POD),详细阐述了CRP-POD的系统构成、工作模式和电气控制系统实船设计方案。通过实船试验和运行数据分析,安装混合对转推进系统的船舶与同系列安装常规推进系统的船舶相比,特定航行工况下航速有2~3%的提升、回转能力有所降低、航向稳定性上优于常规船。     

Benefit of speed reduction for ships in different weather conditions

Currently, the shipping industry is facing a great challenge of reducing emissions. Reducing ship speeds will reduce the emissions in the immediate future with no additional infrastructure. However, a detailed investigation is required to verify the claim that a 10% speed reduction would lead to 19% fuel savings (Faber et al., 2012).This paper investigates fuel savings due to speed reduction using detailed modeling of ship performance. Three container ships, two bulk carriers, and one tanker, representative of the shipping fleet, have been designed. Voyages have been simulated by modeling calm water resistance, wave resistance, propulsion efficiency, and engine limits. Six ships have been simulated in various weather conditions at different speeds. Potential fuel savings have been estimated for a range of speed reductions in realistic weather.It is concluded that the common assumption of cubic speed-power relation can cause a significant error in the estimation of bunker consumption. Simulations in different seasons have revealed that fuel savings due to speed reduction are highly weather dependent. Therefore, a simple way to include the effect of weather in shipping transport models has been proposed.Speed reduction can lead to an increase in the number of ships to fulfill the transport demand. Therefore, the emission reduction potential of speed reduction strategy, after accounting for the additional ships, has been studied. Surprisingly, when the speed is reduced by 30%, fuel savings vary from 2% to 45% depending on ship type, size and weather conditions. Fuel savings further reduce when the auxiliary engines are considered.     

The effectiveness of a European speed limit versus an international bunker-levy to reduce CO2 emissions from container shipping

In the fight to reduce CO₂ emissions from international shipping, a bunker-levy is currently under consideration at the International Maritime Organization (IMO). Faced with the inability of the IMO to reach an agreement in the short term, the European Commission is now contemplating a unilateral measure of a speed limit for all ships entering European Union (EU) ports. This paper argues that this measure is counterproductive for two reasons. Firstly, because it may ultimately generate more emissions and incur a cost per ton of CO₂ which is more than society is willing to pay. Secondly, because it is sub-optimal compared to results obtained if an international bunker-levy was to be implemented. These elements are illustrated using two direct transatlantic services operated in 2010.     

Assessing the impact of reduced visibility on traffic crash risk using microscopic data and surrogate safety measures

Due to the difficulty of obtaining accurate real-time visibility and vehicle based traffic data at the same time, there are only few research studies that addressed the impact of reduced visibility on traffic crash risk. This research was conducted based on a new visibility detection system by mounting visibility sensor arrays combined with adaptive learning modules to provide more accurate visibility detections. The vehicle-based detector, Wavetronix SmartSensor HD, was installed at the same place to collect traffic data. Reduced visibility due to fog were selected and analyzed by comparing them with clear cases to identify the differences based on several surrogate measures of safety under different visibility classes. Moreover, vehicles were divided into different types and the vehicles in different lanes were compared in order to identify whether the impact of reduced visibility due to fog on traffic crash risk varies depending on vehicle types and lanes. Log-Inverse Gaussian regression modeling was then applied to explore the relationship between time to collision and visibility together with other traffic parameters. Based on the accurate visibility and traffic data collected by the new visibility and traffic detection system, it was concluded that reduced visibility would significantly increase the traffic crash risk especially rear-end crashes and the impact on crash risk was different for different vehicle types and for different lanes. The results would be helpful to understand the change in traffic crash risk and crash contributing factors under fog conditions. We suggest implementing the algorithms in real-time and augmenting it with ITS measures such as VSL and DMS to reduce crash risk.     

基于ADRC的调距桨伺服控制系统设计

船舶调距桨推进系统具有典型的非线性和不确定性,以及柴油机、推进轴系和螺旋桨三者的强耦合性,并受到其执行能力的约束以及风、浪、流等的干扰,使得调距桨伺服控制系统的设计非常困难。本文建立了基于自抗扰控制器(Active Disturbance Rejection Control,ADRC)的调距桨伺服控制系统数学模型,对自抗扰控制器的原理及参数整定进行了分析,采用Matlab/Simulink完成仿真程序的设计和研究,ADRC螺距控制与传统的PID螺距控制相比,具有良好的鲁棒性和稳定性,尤其在抗扰性能方面具有良好的控制效果。