动态海面上方船舶六自由度运动仿真

在Fudide-Krylov假设条件下,依据船舶分离建模理论在固定和运动坐标系中计算海面船只六自由度运动数学模型。主要包括:对风、浪、流的单独建模并进行矢量叠加,并在风浪流联合作用下对船舶六自由度运动构建简化的数学建模,完成实时仿真。基于Simulink和V-Realm Builder虚拟现实技术创建船舶运动模型、海洋表面环境及船只的几何模型,对船舶六自由度运动进行视景仿真,给出了有风无浪、有浪无风和风浪兼有三种情况下船只旋回路径和船舶运动轨迹。在VR视景浏览器中创建动态海面上船舶六自由度运动模型,不仅易于实现且结果逼真。得到的结果为进一步研究动态船只目标声散射特性的精确预报提供基础。     

Optimal estimation of ship's attitudes for beampattern corrections in a coaxial circular array

A study is conducted to estimate the accurate attitude of a ship's motion and the estimation is used to arrive at the corrections required for a farfield pattern of a coaxial circular array. The relevant analytical expression is developed for the computation of moving average filter weights to estimate the ship's attitude for beamsteerings at different sea conditions. Farfield patterns are presented for different steered directions for the coaxial circular array of the additive type, and the multiplicative array technique is also used for beamsteering for higher steering angles to observe its control on the sidelobes as well as for the main beamwidths. In order to introduce an adaptive filter to estimate the accurate attitude for stable sonar platform, an adaptive parameter is examined for bathymetric applications where nonstationary ship movement prevails.     

Numerical analysis of the forces exerted on offshore structures by ship waves

Ship-generated waves can contribute to the fatigue of offshore structures. This paper presents a numerical model for evaluating the forces exerted on a nearby fixed structure by ship-generated waves. The ship waves were modeled using Michell's thin-ship theory (Wigley waves), and the forces were computed using a boundary element method in the time domain. The simulation was validated by comparing its results with those of frequency-domain methods reported in the literature. It was then applied to calculate the forces exerted on a hemisphere by ship waves varying with the ship's speed, dimensions and distance from the hemisphere to the ship's path. Our results indicate that the ship waves have enormous effects on offshore structures and are not neglectable.     

具有运动补偿高精度海洋气象多参数模拟仪的研制

针对船舶气象仪的综合检查过程中检测周期长、人工排查效率低以及传统的自动气象站传感器信号模拟器的模拟精度低,没有相关运动补偿算法导致此类系统不适应海洋船舶应用环境的问题,对气象要素传感器的高精度信号采样电路、信号输出、软件滤波和运动补偿等方面进行了研究。通过分析传感器和船舶气象仪的原理,设计了各个气象参数的采样电路、信号模拟电路、触摸屏、GPS和电子罗盘采样与模拟电路,并在近海测试过程中进行了运动补偿模型测试,并基于STM32微控制器进行了该仪器的系统检测实验。研究测试结果表明：该系统具有低功耗、高可靠性、高精度的特点,能应用于海上环境,同时具有对船舶实时定位、气象要素实时模拟和采集、运动补偿多项功能。并且本系统精度在运动补偿后,系统测量方差为0.019 3 m/s,精度提高至接近真实值,均符合《海洋调查规范第3部分：海洋气象观测》的标准。     

基于高斯烟羽模型的船舶尾气扩散研究

为有效对港区大气污染进行治理、分析船舶尾气,本文详细介绍了一种基于高斯烟羽模型,通过MATLAB模拟仿真模型,其包括实验仿真过程、技术原理及理论模型对船舶尾气扩散进行的研究。该模型是在传统的高斯烟羽模型的基础上,通过对实源像源进行加权选择输入参数;通过矢量合成确定了气体扩散的方向,利用合成后的"风速"进行计算仿真,有效模拟了船舶尾气在港区或者海洋环境中的气体扩散模型。其模型简单且可以有效模拟船舶尾气扩散。并且进一步对后续模型的精确优化进行分析。     

A Semi-Analytical Method for the PDFs of A Ship Rolling in Random Oblique Waves

The PDFs (probability density functions) and probability of a ship rolling under the random parametric and forced excitations were studied by a semi-analytical method. The rolling motion equation of the ship in random oblique waves was established. The righting arm obtained by the numerical simulation was approximately fitted by an analytical function. The irregular waves were decomposed into two Gauss stationary random processes, and the CARMA (2, 1) model was used to fit the spectral density function of parametric and forced excitations. The stochastic energy envelope averaging method was used to solve the PDFs and the probability. The validity of the semi-analytical method was verified by the Monte Carlo method. The C11 ship was taken as an example, and the influences of the system parameters on the PDFs and probability were analyzed. The results show that the probability of ship rolling is affected by the characteristic wave height, wave length, and the heading angle. In order to provide proper advice for the ship''s manoeuvring, the parametric excitations should be considered appropriately when the ship navigates in the oblique seas.     

Optimized support vector regression algorithm-based modeling of ship dynamics

This study contributes to solving the problem of how to derive a simplistic model feasible for describing dynamics of different types of ships for maneuvering simulation employed to study maritime traffic and furthermore to provide ship models for simulation-based engineering test-beds. The problem is first addressed with the modification and simplification of a complicated and nonlinearly coupling vectorial representation in 6 degrees of freedom (DOF) to a 3 DOF model in a simple form for simultaneously capturing surge motions and steering motions based on several pieces of reasonable assumptions. The created simple dynamic model is aiming to be useful for different types of ships only with minor modifications on the experiment setup. Another issue concerning the proposed problem is the estimation of parameters in the model through a suitable technique, which is investigated by using the system identification in combination with full-scale ship trail tests, e.g., standard zigzag maneuvers. To improve the global optimization ability of support vector regression algorithm (SVR) based identification method, the artificial bee colony algorithm (ABC) presenting superior optimization performance with the advantage of few control parameters is used to optimize and assign the particular settings for structural parameters of SVR. Afterward, the simulation study on identifying a simplified dynamic model for a large container ship verifies the effectiveness of the optimized identification method at the same time inspires special considerations on further simplification of the initially simplified dynamic model. Finally, the further simplified dynamic model is validated through not only the simulation study on a container ship but also the experimental study on an unmanned surface vessel so-called I-Nav-II vessel. Either simulation study results or experimental study results demonstrate a valid model in a simple form for describing the dynamics of different types’ ships and also validate the performance of the proposed parameter estimation method.     

Investigation on a damaged ship model sinking into water based on three dimensional SPH method

Damaged ship at sea will be a direct threat to lives and property, and it has a great significance of studying ship's remaining buoyancy, stability, sinking time and other important parameters. The process of a damaged ship sinking into water is a complex motion involving ship hull, inner and outer fluid coupled with waves and many other factors. It is featured by high nonlinearity and hard to establish a precise theoretical model to study. Yet SPH (smoothed particle hydrodynamics) as a meshfree method has a great advantage in solving such problems because of the nature of self-adaptive and Lagrangian. Firstly, the experiments of two scaled ship models with different openings sinking into water are carried out, through the sinking processes of broadside opening and bottom opening models, the conclusion is drawn that although the serious loss of stability of broadside opening model, the sinking time and other parameters are more conducive to rescue after maritime distress. Secondly, the parallel program of three dimensional SPH is developed to simulate the above more complex model, broadside opening model. The coupled process of sloshing is compared with that of experiment, and the results show good agreement with each other which verify the accuracy and feasibility of three dimensional parallel program.     

A case study for the effect of a flow improvement device (a partial wake equalizing duct) on ship powering characteristics

A case study for the energy saving in the powering characteristics of a river going general cargo ship has been carried out. Two different hull forms were generated from the original hull form of the vessel to optimise the stern flow of the vessel. A possible energy saving concept, such as partial wake equalizing duct was investigated in this manner. Resistance, self-propulsion and flow visualization measurements were performed with the hull models to explore the effect of partial wake equalizing ducts on the powering characteristics of the hull form. Analysis of the results indicates that the partial wake equalizing duct concept with an appropriate stern design affect not only the flow characteristics at aft-end, but also the propulsion characteristics. In order to identify effect of each component (partial wake equalizing duct and stern form) a further investigation is needed.     

基于AIS的船舶会遇局面紧迫度量化分析

近年来船舶大型化、高速化的发展以及数量的不断递增,导致船舶碰撞概率大大增加。为更好地保障船舶航行安全,提出船舶会遇局面紧迫度这一概念。该概念表征船舶在当前航行状态下由于一定范围内所有其他船舶的存在而处于的会遇局面的紧迫程度,其旨在帮助船舶驾驶员实时感知并掌握船舶在海上航行时所处会遇局面的状况,从而据此加以判断并及时采取措施规避碰撞风险。建立了船舶会遇局面紧迫度的计算模型,该模型以考虑到本船速度的动态圆形领域为空间约束条件,综合考虑其他船舶相对于本船的方位分布和距离这两个指标的影响,基于信息量量化紧迫度。利用2016年1月1日天津港AIS数据进行紧迫度的计算与分析,计算结果与实际相符,该计算模型能够准确反映船舶在航行过程中所处会遇局面的紧迫程度。利用双线性内插法建立天津港区域紧迫度二维彩色平面分布图,其表达效果优于传统热度图。     

基于二元LSTM神经网络的船舶运动预测算法研究

在海况环境下,进行船舶运动预测时。由于惯性传感器采集系统本身的电学特性,会产生误差偏移,影响预测的准确性。针对这一问题,在常规长短期记忆网络（LSTM）的基础上,设计改良了一种二元的LSTM网络架构。在船舶运动仿真平台上进行模拟船舶升沉运动实验,并通过惯性传感系统测量仿真平台实时积分位移进行计算验证。验证统计该网络预测结果峰差值均方差0.64%,均值均方差0.42%,峰值均方差0.57%,证实该网络较常规LSTM在船舶运动预测领域具有更好的针对性和适应性,更准确的对船舶运动进行预测。     

Investigating the effect of rudder profile on 6DOF ship turning performance

Maneuverability is an important aspect of marine vehicle design. The performance of a rudder, as the most important means of maneuvering, has significant impacts on ship controllability characteristics. This study investigated the effect of five rudder profiles (NACA 0012, NACA0025, IFS, Fish tail, HSVA) on the turning characteristics of KCS containership model. This investigation was performed by direct simulation of the ship turning circle maneuver in computational fluid dynamic environment based on the ITTC verification procedure. All rudders were defined with the same lateral area. Simulations were conducted with the commercial software STAR-CCM+. The rudder turning and the ship's dynamic motion were modeled by the use of an overset technique and six-DOF dynamic solver, respectively. Roll, pitch and heave motions and forward speed reduction during the turning maneuver with different rudders were computed and compared. Results show that the rudder profiles designed specifically for marine applications (Fishtail, IFS and HSVA) perform better than the traditional NACA series.     

Full scale CFD seakeeping simulations for case study ship redesigned from V-shaped bulbous bow to X-bow hull form

Increasing propulsion efficiency, safety, comfort and operability are of the great importance, especially for small ships operating on windy sites like the North Sea and the Baltic Sea. Seakeeping performance of ships and offshore structures can be analysed by different methods and the one that is becoming increasingly important is CFD RANS. The recent development of simulation techniques together with rising HPC accessibility enables performance of advanced seakeeping simulations for ships in a full scale. The paper presents CFD seakeeping analysis for a case study vessel in two variants: V-shaped bulbous bow hull form (as built) and innovative hull form (X-bow type). The study presents the influence of redesigning the ship on selected seakeeping aspects. The advanced CFD model, with the application of overset mesh technique, was described in detail. Selected numerical results were validated on the basis of experimental testing in a towing tank and showed good agreement. The approach demonstrated here of performing the CFD seakeeping simulations for the analysis of ship performance in a full scale and close to real loading conditions has direct application to the design process as well as in determination of optimal operational parameters of any ship.     

Ocean bottom seismograph

The ocean bottom seismograph described in this paper has been developed primarily for recording earthquakes on the mid-oceanic ridges. The instrument is suitable for dropping onto the most rugged areas of the ocean floor. Acoustic tracking with the ship's precision echo sounder enables it to be located there relative to both the topography of the sea bed and the ship. The outputs of a 3-component seismometer and a hydrophone are recorded in FM form on a low-power magnetic tape recorder designed specifically for the instrument.     

Validation of ship manoeuvring models using metamodels

This paper describes how simplified auxiliary models—metamodels—can be used to create benchmarks for validating ship manoeuvring simulation models. A metamodel represents ship performance for a limited range of parameters, such as rudder angles and surge velocity. In contrast to traditional system identification methods, metamodels are identified from multiple trial recordings, each containing data on the ship’s inherent dynamics (similar for all trials) and random disturbances such as environmental effects and slightly different loading conditions. Thus, metamodels can be used to obtain these essential data, where simple averaging is not possible. In addition, metamodels are used to represent a ship’s behaviour and not to obtain physical insights into ship dynamics. The experimental trials used for the identification of metamodels can be found in in-service recorded data. After the metamodel is identified, it is used to simulate trials without substantial deviations from the ship state parameters used for the identification. Subsequently, the predictions of the metamodels are compared with the predictions of a tested manoeuvring simulation model. We present two case studies to demonstrate the application of metamodels for moderate turning motions of two ships.     

船舶碰撞中空夹层钢管混凝土导管架平台损伤分析

针对船舶与中空夹层钢管混凝土（CFDST）导管架平台碰撞问题,利用ABAQUS/Explicit非线性有限元软件建立中空夹层钢管混凝土导管腿导管架数值模型,对船舶碰撞进行数值模拟,对比分析1 m/s、2 m/s和3 m/s的3种碰撞速度下工况下导管架抗碰撞性能、耗能及损伤。从碰撞力、碰撞区域变形以及导管架能量耗散等方面详细研究中空夹层钢管混凝土导管腿作用下导管架整体的损伤模式和动力响应。结果表明：CFDST导管架在船舶碰撞荷载作用下主要由CFDST导管腿耗能,有效控制了结构整体位移变形,提升了整体刚度,有效发挥平台各构件之间组合耗能,结构抗碰撞能力得到明显提升。     

豪华邮轮耐波性及救生艇砰击载荷特性研究

利用基于三维势流理论的Wasim软件,系统研究了在不同海况下大型豪华邮轮的耐波性能及作用在救生艇上的砰击载荷。首先计算豪华邮轮在规则波和不规则波中的运动响应,分析航速、浪向和海况对豪华邮轮运动响应的影响规律,然后计算救生艇在不同海况下砰击载荷的变化规律,根据变化规律评估救生艇在实际航行中的安全性。结果表明：豪华邮轮运动响应幅值随着航速和海况的增大整体呈增大趋势,规则波中横摇运动响应幅值在浪向90°时最大;当豪华邮轮处于4级和6级海况时救生艇不发生砰击;当豪华邮轮处于8级海况且航速大于10.29 m/s时救生艇发生砰击,为保证救生艇的安全,邮轮应避免在浪向120°和浪向150°下航行,此时建议邮轮以低于12.35 m/s的航速迎浪180°航行。     

Ship propulsion in waves by actively controlled flapping foils

Flapping wings located beneath or to the side of the hull of the ship are investigated as unsteady thrusters, augmenting ship propulsion in waves. The main arrangement consists of horizontal wing(s) in vertical oscillatory motion which is induced by ship heave and pitch, while rotation about the wing pivot axis is actively controlled. In this work we investigate the energy extraction by the system operating in irregular wave conditions and its performance concerning direct conversion to propulsive thrust. More specifically, we consider operation of the flapping foil in waves characterised by a spectrum, corresponding to specific sea state, taking into account the coupling between the hull and the flapping foil dynamics. The effect of the wavy free surface is accounted for through the satisfaction of the corresponding boundary conditions and the consideration of the wave velocity on the formation of the incident flow. Numerical results concerning thrust and power coefficients are presented, indicating that significant thrust can be produced under general operating conditions. The present work can be exploited for the design and optimum control of such systems extracting energy from sea waves for augmenting marine propulsion in rough seas, with simultaneous reduction of ship responses offering also dynamic stabilisation.     

多波束测深系统海底目标探测能力评估方法

为了有效衡量多波束测深系统的目标探测性能,提高舰船水下目标搜寻、援潜救生和打捞能力等,对当前多波束测深系统目标探测问题进行分析,推导了多波束测深系统目标探测分辨率估计模型。以SONIC 2024型多波束测深系统为例,分析了不同水深下在多波束测深系统垂直航迹方向、沿航迹方向分辨率的变化规律及量级大小,对覆盖宽带和航速等参数指标设置提出了合理建议,为多波束测深系统目标探测能力的准确评估提供依据,具有一定参考价值。