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《海洋技术学报》2018,(5)
针对黑潮等海洋现象的长期、间歇性观测需求,研发了一种长期定点剖面观测AUV系统。为降低能耗,在观测间隔期间,采用浮力调节技术实现定深悬浮,并关闭主要设备实现休眠节能。传统的油囊式浮力调节系统不能精确测量调节量,难以满足AUV悬浮休眠节能的需求。为实现浮力调节量的精确控制,设计了一种内油箱为活塞式油缸的吸排油浮力调节系统,通过活塞位置的精确测量实现浮力调节量的精确测量和控制。试验结果表明,该浮力调节系统性能满足设计指标,调节精度可达到10 mL,搭载该浮力调节系统的AUV可实现高精度定深控制和剩余浮力的精确调节。该研究为拓展AUV的作业模式、提高AUV作业时间奠定了基础,为高精度浮力调节系统的开发提供了设计参考。 相似文献
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介绍了国内外各型深海AUV产品的基本参数、配置、功能和使用方式,论述了深海AUV发展现状及发展趋势,并着重阐述了深海 AUV 在深海探测、目标识别、深海反制等领域的应用,在此基础上深入分析了深海 AUV 在能源、控制、导航、通行等方面的关键技术,并阐明当前关键技术的现状以及未来的发展方向,同时根据国内外发展趋势提出了深海 AUV 经过 3 个阶段的发展,最终向着使用便捷化、重量轻量化、 外形小型化、智能化、网络信息化的方向发展。 相似文献
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针对海洋时变中小尺度过程长期精细观测需求,研制了一种轻型长航程AUV。这种AUV的最大特征是借鉴了水下滑翔机的变浮力、重心可调执行机构,使得其具备海洋环境自适应能力,可在不同海水密度条件下实现零攻角高效航行。首先介绍了轻型长航程AUV的系统组成,讨论了这种可变浮力、可调重心AUV的航行控制系统设计;针对这种AUV新增的浮力和重心两个控制输入量间存在系统耦合的问题,开展了基于模型预测算法的零攻角定深航行控制器研究,着重阐述和推导了控制目标的修正、面向控制的动力学建模以及模型预测控制器的设计过程;最后通过仿真验证了所述方案和方法的可行性。该研究有利于提高轻型长航程AUV的航行效率,进一步提升AUV的续航能力。 相似文献
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《海洋技术学报》2014,(5)
"潜龙一号"是我国2011年启动研发的6 000 m级自主水下航行器(AUV),用于深海海底锰结核探测,是"十二五"规划重点项目之一。由于潜深大,AUV在未知大深度水域航行时,一般需要2~3次下潜才可完成预定深度航行配平要求。研发了"潜龙一号"使用的单向浮力调节系统,在陌生水域进行初次下潜时,将浮力调节装置搭载于"潜龙一号"外部,在航行深度进行自动浮力调节,通过浮力调节,单次便可实现预定下潜深度的最优化配平,并可同步开展该深度下的探测任务。实现了在未知海域、大潜深探测过程无需进行配平的目的,极大提高了"潜龙一号"AUV使用的经济性和方便性。该系统具有功能独立、体积小、使用维护方便等优点,该工作对大潜深航行器具有很高的工程应用价值和一定的开发理论指导价值。 相似文献
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自治水下机器人在深海采矿系统湖试中的应用 总被引:1,自引:1,他引:0
以大洋采矿前期的湖试为例,介绍了AUV在矿产资源调查和深海采矿中的应用。在深海采矿系统作业前期,利用AUV调查湖底的地形地貌、结核的分布与覆盖率,确定集矿机作业地点的大地坐标。在深海采矿系统作业后期,利用AUV调查集矿机在湖底的行走轨迹和压陷深度,估算回采率。 相似文献
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AUV在水下作业时浮力会受到海水温度、深度等的影响而发生变化,为了解决浮力变化引起的航行性能问题研制了浮力调节装置,它对于大航程、大潜深AUV的发展具有重要的意义。针对以上问题,设计了一套活塞缸式浮力调节装置,它利用液压系统驱动液压缸吸排海水改变浮力从而实现浮力调节的目的,浮力调节的大小是通过直线位移传感器测量油液的改变量间接计算得到的;接着利用AMESim进行液压系统仿真,重点分析了液压缸的动态特性,为实际系统的试验提供了理论的指导意义;最后为了验证液压库建模和HCD库建模的等效性,采用HCD库建模进行比较分析。 相似文献
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高地下水位地区构筑地下建(构)筑物必须解决结构上浮问题,抵抗上拔荷载作用已成为地下工程建设中经常需要面临的问题。试验表明爆扩桩具有很好的抗浮能力,其成桩施工工艺方面的研究也比较完善,但是对爆扩桩的承载机理的研究很少,通过运用NCAP-1有限元计算程序,分析总结爆扩桩的抗拔承载机理。 相似文献
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XIAO Xianjun WANG Dongxiao ZHOU Wen ZHANG Zuqiang QIN Yinghao HE N ZENG Lili 《海洋学报(英文版)》2013,32(9):30-37
The seasonal variation of mixing layer depth(MLD) in the ocean is determined by a wind stress and a buoyance flux.A South China Sea(SCS) ocean data assimilation system is used to analyze the seasonal cycle of its MLD.It is found that the variability of MLD in the SCS is shallow in summer and deep in winter,as is the case in general.Owing to local atmosphere forcing and ocean dynamics,the seasonal variability shows a regional characteristic in the SCS.In the northern SCS,the MLD is shallow in summer and deep in winter,affected coherently by the wind stress and the buoyance flux.The variation of MLD in the west is close to that in the central SCS,influenced by the advection of strong western boundary currents.The eastern SCS presents an annual cycle,which is deep in summer and shallow in winter,primarily impacted by a heat flux on the air-sea interface.So regional characteristic needs to be cared in the analysis about the MLD of SCS. 相似文献
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—The nonlinear behaviors of plane coupled motions for a given two-point tension mooring sys-tem,are discussed in the present paper.For a cylinder moored by two taut lines under the action ofgravity,buoyance and forces due to wave-current and mooring lines,a mathematical model of motionswith three degrees of freedom is established.The steady solution and stability are analyzed.By integratingthe equations of motions,history,phase map and Poincare map are obtained.The Liapunov exponentsare also computed.The numerical results show that:the horizontal movement will increase,and stabilitywill also increase as the steady force increases.The amplitude of responses will decrease as time-dependentforces decrease.Because of the geometric nonlinearity,there exist many windows bifurcating to pseudo-pe-riodic or multi-periodic solution.The bifurcating patterns may be different.The behaviors are very com-plex.Under wave excitation alone,the motions are nonsymmetrical but still symmetrical statistically. 相似文献
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Gao Renliang Huang Chengkui Yang Guoxian Associate Professor Dalian University of Technology Dalian Senior Engineer Dalian University of Technology Dalian Professor Dalian University of Technology Dalian 《中国海洋工程》1993,(2)
This paper introduces the process and result of fatigue test of steel (Z direction steel) welded T tubular joints used in offshore engineering. Detailed measurement of stress concentration factor, stress distribution, fatigue life and crack development has been performed. Through analysis, an empirical formula of stress concentration factor for T tubular joints, fatigue S-N curve and crack propagation rule are obtained. 相似文献
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This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle(ROV),which is being researched and developed by Shanghai Jiao Tong University.Accurate hydrodynamics coefficients measurement and spatial modeling of ROV are significant for the maneuverability and control algorithm.The scaled model of ROV was constructed by 1:1.6.Hydrodynamics coefficients were measured through VPMM and LAHPMM towing test.And dynamics model was derived as a set of equations, describing nonlinear and coupled 5-DOF spatial motions.Rotation control motion was simulated to verify spatial model proposed.Research and application of hydrodynamics coefficients are expected to enable ROV to overcome uncertainty and disturbances of deepsea environment,and accomplish some more challengeable and practical missions. 相似文献
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The use of the piezocone penetration test (CPTU) in a geotechnical site investigation offers direct field measurement on stratigraphy and soil behavior. Compared with some traditional investigation methods, such as drilling, sampling and field inspecting method or laboratory test procedures, CPTU can greatly accelerate the field work and hereby reduce corresponding operation cost. The undrained shear strength is a key parameter in estimation of the stability of natural slopes and deformation of embankments in soft clays. This paper provides the measurements of in situ CPTU, field vane testing and laboratory undrained triaxial testing of Lianyungang marine clay in Jiangsu province of China. Based on the literature review of previous interpretation methods, this paper presents a comparison of field vane testing measurements to CPTU interpretation results. The undrained shear strength values from both the field vane tests and cone penetration resistances are lowest at the mid-depths of the marine clay layers, and the excess pore water pressures are highest at the mid-depths of the marine clay layers, indicating that the marine clay layer is underconsolidated. 相似文献
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针对海相软土地区螺旋钢管桩承载力低与腐蚀问题,提出一种新型压力注浆螺旋钢管桩,并设计5根足尺试验桩,进行现场抗拔承载性能试验,研究螺旋叶片直径与排布方式对成桩直径与桩基抗拔承载性能的影响.结果表明,成桩直径与螺旋叶片直径呈正相关,在每节延长段钢管末端设置螺旋叶片利于提高水泥土柱完整性,使成桩直径更为饱满,提高桩基的抗拔承载性能.将试验结果和现行规范抗拔极限承载力计算结果进行对比,计算结果约为实测平均值的94%,在此基础上提出压力注浆螺旋钢管桩抗拔承载力计算参数修正建议,为后续的设计提供参考. 相似文献
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介绍某桁架式Spar平台风洞环境载荷测试及分析,为国内首次在风洞中开展的Spar平台风、流载荷模型试验。通过在风洞中模拟真实海洋环境,考虑倾角变化对平台载荷的影响,测试Spar平台水上部分风载和水下部分的流载,给出最大风倾覆力矩风向角,确定平台最容易发生危险的关键风向。试验结果表明:水上部分风阻随纵倾角的增大而增大;风倾覆力矩随倾角增大先增大后减小,在纵倾角10°时达到最大值;水下部分只在流向角-15°~15°范围内,流阻随倾斜角度增大而减小,但最大阻力发生在倾斜角为15°时。试验结果可以为Spar平台设计以及性能预报提供参考。 相似文献