大气阻力对静稳态飞行目标落点预报影响评估

大气阻力对高空静稳态飞行目标运行轨迹的影响是航天测控领域的研究热点与难点问题。在分析空间飞行器受力状况基础上,根据飞行器运动学状态方程,通过数值模拟方式定量评估了大气阻力对飞行器运行轨迹影响。结论表明:在再入段中,大气阻力是影响飞行器运行轨迹的最主要影响因素,对飞行器落点位置会造成数百米乃至数千米位置偏差,同时使落地时间有较大变化。     

飞行器状态观测误差对运行轨迹预报精度影响

飞行器状态观测误差大小直接决定了其运行轨迹预报精度。根据飞行器运行状态方程,分析了不同量级初始状态观测误差对飞行器运行轨迹解算影响。通过仿真试验评估了飞行器状态观测误差造成的影响,结论表明:飞行器初始位置和速度误差越大,对运行轨迹解算精度影响越严重,呈现出线性变化趋势。因此,对飞行器进行测控时,应尽量减小飞行器初始状态观测误差,提高飞行器运行轨迹解算精度。     

海上溢油粒子追踪预测模型中的两种数值方法比较

在海上溢油粒子追踪预测模型中,关键的是对拉格朗日微分方程的求解。本文首先通过数值实验比较了欧拉法和龙格-库塔法求解拉格朗日溢油轨迹微分方程的优劣,然后将其应用到2005年4月3日发生在大连附近的“ARTEAGA”油轮溢油事故的油膜粒子追踪模型中。数值实验和应用结果表明,在近岸不均匀流场下,用龙格-库塔方法解拉格朗日油粒子微分方程比用欧拉法求解精度高,用龙格-库塔方法模拟“ARTEAGA”油轮轨迹及其扩散范围与实际观测更为接近,而用欧拉法模拟溢油扩散的面积偏大。     

基于极限分析上限方法的海底斜坡稳定性评价

极限平衡法仍是当前海底斜坡稳定性的主要工程评价方法,但该法只能给出稳定性分析的近似解答。基于极限分析运动学定理,假定海底斜坡发生对数螺线型滑移破坏模式,将滑体有效自重和简化波浪力等以外荷载形式叠加引入到虚功率方程中,与潜在滑动面上由黏聚力产生的内能耗散率相平衡,建立考虑一阶简化波浪效应的海底斜坡上限解法;利用多变量无导数求极值的逐级迭代方法与最优化技术,结合抗剪强度折减思想,求解波浪加载下不同时刻的海底斜坡稳定性与相应的临界破坏机构,并针对典型算例开展有限元数值解的验证。进而联合采用数值法与上限解,探讨波高、波长、水深等波浪参数对海底斜坡稳定性与滑动机制的影响。结果表明,本文提出的上限解与数值解吻合较好,获得的安全系数与破坏模式等符合一般规律,为波浪作用下海底斜坡的稳定性评价提供了新的途径。     

变系数KdV方程在海洋内孤立波的应用

本文讨论了变系数KdV方程的一种求解方法及其理论应用。首先利用解析解给出初值条件,其次通过龙格库塔法结合显格式差分法对方程进行离散,并运用MATLAB软件编程求出方程的数值解。为了更好地体现孤立波的特性,本文选取了不同的初始波形,以研究孤立波的极性转换、线性化及频散产生尾波等典型情形,并将此理论用于实际海洋的孤立波分析中,以便更简洁直观地了解内孤立波的特性。     

水陆两栖机器人水下动力学建模及操纵性研究

针对多模态水陆两栖机器人作业环境复杂使得水下运动状态难以预报等难题,基于 CFD 方法求解的水动力系数,构建了机器人水下运动的五自由度动力学和运动学模型。基于机器人水下动力学模型,采用四阶经典龙格库塔法,开展了机器人直航运动及水平面回转运动数值仿真研究,并进行了水池试验验证。 试验结果数据与数值仿真结果误差均不超过 10%,验证了机器人水动力系数及五自由度动力学模型的准确性, 为水陆两栖机器人研制提供了理论与技术支撑。     

孤立波与带窄缝双箱相互作用模拟研究

针对孤立波与带窄缝双箱的作用问题,应用时域高阶边界元方法建立了二维数值水槽。其中,自由水面满足完全非线性运动学和动力学边界条件,对瞬时自由表面流体质点采用混合欧拉-拉格朗日法追踪,采用四阶龙格库塔法对下一时刻的自由水面的速度势和波面升高进行更新。采用加速度势法求解物体湿表面的瞬时波浪力。采用推板方法生成孤立波。通过模拟孤立波在直墙上的爬高以及施加在直墙上的波浪力,并与已发表的实验和数值结果对比,验证本数值模型的准确性。通过数值模拟计算研究了窄缝宽度、方箱尺寸对波浪在箱体迎浪侧爬高,窄缝内波面升高,箱体背浪侧透射波高及箱体受波浪荷载的影响。同时研究了有一定时间间隔的双孤立波与带窄缝双箱系统作用问题。     

基于CFD船舶操纵性预报方法研究

基于CFD技术和重叠网格技术完成了黏性流场中KVLCC2船模的操纵性水动力导数的数值计算。为保证计算的精确性,进行了网格的收敛性分析,给出了合适的网格划分方法;通过数值模拟斜航运动、纯横荡运动和纯艏摇运动计算出的水动力与相应条件下的试验值对比,计算结果与试验值吻合良好,计算出的水动力导数准确度较高。基于MMG分离建模方法建立KVLCC2船模的操纵性数学模型,利用龙格-库塔算法求解微分方程组,对船舶操纵运动进行仿真。回转试验和Z形操舵试验的仿真结果与试验结果对比,其回转直径和轨迹都非常吻合,表明采用的船舶操纵性预报是可行的。     

基于改进近似模型的水下鱼雷打靶快速预报方法

鱼雷打靶试验对评价武器系统对目标的打击性能具有重要意义。水动力参数是模拟鱼雷水下运动轨迹、预报鱼雷打靶落点的关键参数。随着现代CFD技术的发展,采用数值方法获取水动力参数,提高了轨迹预报精度,但计算效率不高,不利于多工况下鱼雷打靶预报。首先,基于刚体动量和动量矩定理建立了鱼雷的水下运动方程组,运用4阶龙格–库塔（Runge-Kuta）法对运动方程组进行数值求解,对鱼雷水下轨迹进行模拟,从而获取鱼雷打靶性能。其次,提出了基于遗传算法的近似模型（GA-BP）和自适应遗传算法优化的近似模型（AGA-BP）模拟鱼雷水下打靶落点,对鱼雷打靶性能进行快速预报。通过仿真和数据对比,结果表明：AGA-BP预测模型相对于BP预测模型更稳定、GA-BP预测模型收敛速度更快,实现对鱼雷水下打靶快速预报。     

干涉谱法测量水下竖直运动目标轨迹

以被动测量竖直运动目标轨迹为目的,通过分析多途信号声压场模型,讨论了经过相干多途信道的目标辐射噪声在接收点产生相干干涉的现象。在目标水平距离已知的情形下,给出了干涉频率周期与目标深度的关系,提出了利用多途信道的相干干涉信息来解算目标深度轨迹的方法。时频分析可以得到干涉条纹、条纹粗细变化的规律与目标深度变化有关。通过对实测数据的分析,说明本方法的有效性。     

基于模糊神经网络理论对水下拖曳体进行深度轨迹控制

以华南理工大学开发的自主稳定可控制水下拖曳体为研究对象,首先通过水下拖曳体在拖曳水池样机中的试验取得试验数据后作为训练样本,采用LM BP算法,建立基于神经网络理论构建的可控制水下拖曳体轨迹与姿态水动力的数值模型。在此基础上设计了一个控制系统,它主要由两部分组成:基于遗传算法的神经网络辨识器和基于模拟退火改进的遗传算法的模糊神经网络控制器。以满足预先设定的拖曳体水下监测轨迹要求为控制依据,由控制系统确定为达到所要求的运动轨迹而应采用的迫沉水翼转角,以此作为输入参数,通过LM BP神经网络模型的模拟计算预报在这一操纵动作控制下的拖曳体所表现的轨迹与姿态特征。数值模拟计算结果表明:该系统的设计达到了所要求的目的;借助这一系统,可以有效地实现对拖曳体的深度轨迹控制。     

Research on Water-Exit and Take-off Process for Morphing Unmanned Submersible Aerial Vehicle

This paper presents a theoretic implementation method of Morphing Unmanned Submersible Aerial Vehicle (MUSAV), which can both submerge in the water and fly in the air. Two different shapes are put forward so that the vehicle can suit both submergence and flight, considering the tremendous differences between hydrodynamic configuration and aerodynamic configuration of a vehicle. The transition of the two shapes can be achieved by using morphing technology. The water-to-air process, including water-exit, morphing, take-off and steady flight, is analyzed. The hydrodynamic and aerodynamic model of the vehicle exiting the water surface obliquely and then taking off into the air has been founded. The control strategy after morphing is analyzed and the control method is given. Numerical method is used to validate the motion model of the water-exit process. Results of simulations show the validity of the proposed model and the feasibility of MUSAV in theory.     

Concurrent mapping and localization using sidescan sonar

This paper describes and evaluates a concurrent mapping and localization (CML) algorithm suitable for localizing an autonomous underwater vehicle. The proposed CML algorithm uses a sidescan sonar to sense the environment. The returns from the sonar are used to detect landmarks in the vehicle's vicinity. These landmarks are used, in conjunction with a vehicle model, by the CML algorithm to concurrently build an absolute map of the environment and to localize the vehicle in absolute coordinates. As the vehicle moves forward, the areas covered by a forward-look sonar overlap, whereas little or no overlap occurs when using sidescan sonar. It has been demonstrated that numerous reobservations by a forward-look sonar of the landmarks can be used to perform CML. Multipass missions, such as sets of parallel and regularly spaced linear tracks, allow a few reobservations of each landmark with sidescan sonar. An evaluation of the CML algorithm using sidescan sonar is made on this type of trajectory. The estimated trajectory provided by the CML algorithm shows significant jerks in the positions and heading brought about by the corrections that occur when a landmark is reobserved. Thus, this trajectory is not useful to mosaic the sea bed. This paper proposes the implementation of an optimal smoother on the CML solution. A forward stochastic map is used in conjunction with a backward Rauch-Tung-Striebel filter to provide the smoothed trajectory. This paper presents simulation and real results and shows that the smoothed CML solution helps to produce a more accurate navigation solution and a smooth navigation trajectory. This paper also shows that the qualitative value of the mosaics produced using CML is far superior to those that do not use it.     

GNSS导航信号仿真中运动轨迹设计

GNSS信号仿真器模拟GNSS信号时需要提供轨迹数据,要求轨迹数据连续、平滑且二阶可导。要满足上述条件,传统的方式通常是对轨迹进行分段仿真,设置仿真轨迹的时候较为复杂,在仿真高动态载体时,还常常会出现轨迹不平滑的现象。为此提出采用三次样条插值的方法来仿真载体轨迹,既满足GNSS信号仿真器对轨迹数据的要求,又保证与真实轨迹的相似性。     

Approximate Analytical Turning Conditions for Underwater Gliders: Implications for Motion Control and Path Planning

This paper describes analysis of steady motions for underwater gliders, a type of highly efficient underwater vehicle which uses gravity for propulsion. Underwater gliders are winged underwater vehicles which locomote by modulating their buoyancy and their attitude. Several underwater gliders have been developed and have proven their worth as efficient long-distance, long-duration ocean sampling platforms. Underwater gliders are so efficient because they spend much of their flight time in stable, steady motion. Wings-level gliding flight for underwater gliders has been well studied, but analysis of steady turning flight is more subtle. This paper presents an approximate analytical expression for steady turning motion for a realistic underwater glider model. The problem is formulated in terms of regular perturbation theory, with the vehicle turn rate as the perturbation parameter. The resulting solution exhibits a special structure that suggests an efficient approach to motion control as well as a planning strategy for energy efficient paths.      

Numerical and simplified methods for the calculation of the total horizontal wave force on a perforated caisson with a top cover

The VOF method and the k–ε model, combined with the equation of state of air at constant temperature, have been used to calculate the total horizontal wave force caused by monochromatic waves acting on a perforated caisson with a top cover. From comparison of various parameters, such as the total horizontal force, the pressure difference on the front wall, the pressure on the back wall and the pressure on the top cover, between the numerical results and test data, it can be seen that the numerical results agree well with the test data. It is concluded that the method described in this paper can be utilized to calculate wave forces acting on perforated caissons with a top cover in the case of nonovertopping, nonbreaking waves. A simplified method to calculate the total horizontal force has been developed, based on test data, using a least-squares method. A comparison between the numerical results and the values calculated from the simplified equations shows good agreement. Therefore the simplified equations can be used in engineering applications to evaluate the total horizontal force on a perforated caisson with a top cover.     

基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。     

Minimum time-energy trajectory planning for automatic ship berthing

A ship optimal trajectory planning method based on the dynamic model of the ship is presented. First a mathematical modular model is introduced for describing the non-linear dynamics of the ship. Then the problem of optimal trajectory planning is discussed. The trajectory is obtained through the optimization of a time-energy criterion, taking into account constraints on the steering system, environment, non-linearities, and non-convexity of the state space equations. The discrete augmented Lagrangian approach is used to compute the optimal constrained controller. The method was programmed on a HP700 workstation. This approach was applied to automatic ship berthing maneuver     

Application of VOF in Calculating Wave Energy Loss due to Spilling Breaker

- A large amount of experimental analysis and systematical theoretical calculation has been done by the authors to solve the problem of wave transformation and breaking, considering the effect of both current and topography, but only the wave energy loss due to spilling breaker in the surf zone has been discussed in this paper. Based on test result analysis and calculation with the Stream Function Wave Theory, the wave velocity field at breaking points has been obtained, and it is used to calculate the wave heights after breaking by the VOF (Volume of Fluid) method, in which the governing equations are continuity equation and Navier-Stokes Equation for imcompressible fluids. In the present paper, the improved VOF technique is used to calculate the wave heights of stable regular waves after breaking. Results fit the test data well, which shows that the VOF method is suitable to numerical simulation of regular waves after breaking. Besides, the breaker coefficient B of regular waves in the bore model is a