基于虚拟仪器技术的海洋移动气象观测系统

介绍一种自主研发的、基于Labview虚拟仪器技术的海洋移动气象观测系统,它可广泛用于各种舰船、海洋移动平台上,能够有效地去除安装平台的移动给风参数测量造成的影响,从而给出真风速、真风向、温度、湿度、气压、安装平台移动轨迹、速度等参数,并能够实时地显示相关参数的随时间的变化趋势,为海洋气象的研究及预报工作提供真实有效的原始数据分析资料。     

Robust control based on feedback linearization for roll stabilizing of autonomous underwater vehicle under wave disturbances

In the case of Autonomous Underwater Vehicle(AUV) navigating with low speed near water surface,a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance.Robust control is applied,which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer.Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system.For parameter uncertainty of motion model,the controller is designed with mixed-sensitivity method based on H-infinity robust control theory.Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface.     

Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins

In this paper, adaptive control of low speed bio-robotic autonomous underwater vehicles (BAUVs) in the dive plane using dorsal fins is considered. It is assumed that the model parameters are completely unknown and only the depth of the vehicle is measured for feedback. Two dorsal fins are mounted in the horizontal plane on either side of the BAUV. The normal force produced by the fins, when cambered, is used for the maneuvering. The BAUV model considered here is non-minimum phase. An indirect adaptive control system is designed for the depth control using the dorsal fins. The control system consists of a gradient based identifier for online parameter estimation, an observer for state estimation, and an optimal controller. Simulation results are presented which show that the adaptive control system accomplishes precise depth control of the BAUV using dorsal fins in spite of large uncertainties in the system parameters.     

On the development of ship anti-roll tanks

This paper reviews the development of ship anti-roll tanks from the 1880s to the present day including their modelling and control strategies. Mention is also made of other ship roll stabilization systems and the application of the technology to stabilization of other structures. The potential for the use of roll stabilization tanks on modern, high speed multi-hull craft which also have a low speed operational requirement is also discussed.     

Design of the roll stabilization controller, using fin stabilizers and pod propellers

Ships experience roll motion due to waves in a seaway. Therefore, fin stabilizers are installed to stabilize such roll motion. A fin stabilizer is effective at reducing the roll motion at moderate speeds but not at low speeds. Recently, pod propellers have been used with fin stabilizers for roll stabilization. In the paper, a MIMO (multi-input multi-output) optimal control system that has two control inputs such as fin stabilizers and pod propellers is designed. The LQR (linear quadratic regulator) control algorithm is applied to reduce the roll motion of cruise ships in regular waves. Also, the nominal plant and the frequency-weighted LQR are applied to reduce the roll motion in irregular waves. The roll motion of cruise ships is effectively reduced when the fin and pod propeller are used as the control actuators at low speeds. The optimal control gain is easily found when the frequency-weighted LQR is applied.     

Studies on an algorithm to control the roll motion using active fins

The very purpose of attaching fins to the hull is to reduce the roll motions of a ship. Roll minimization is a requisite for various operations in the seas. The presence of fin system provides enhanced state of stabilization especially when the vessel is performing a fast maneuvering amidst rough environmental disturbance. The fins in turn are activated by electro-hydraulic mechanism based on the in-built intelligence as per control theory like proportional–integral–derivative (PID) or fuzzy logic. As per this paper, fin system is activated using PID control algorithm. A frigate-type warship is considered for the demonstration purpose. Nonlinear roll motions are controlled using active fins. Lift characteristics of the fins in hydrodynamic flow were studied using CFD package fluent.Good amount of reduction in roll amplitude is achieved from various simulations in random sea. The approach can be used for any irregular sea conditions.     

Depth-trim mapping control of underwater vehicle with fins

Underwater vehicle plays an important role in ocean engineering.Depth control by fin is one of the difficulties for underwater vehicle in motion control.Depth control is indirect due to the freedom coupling between trim and axial motion.It includes the method of dynamic analysis and lift-resistance-coefficient experiment and theory algorithm.By considering the current speed and depth deviation,comprehensive interpretation is used in object-planning instruction.Expected depth is transformed into expected trim.Dynamic output fluctuation can be avoided,which is caused by linear mapping of deviation.It is steady and accurate for the motion of controlled underwater vehicles.The feasibility and efficiency of the control method are testified in the pool and natural area for experiments.     

Robust adaptive control of underactuated ships on a linear course with comfort

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.     

On the track keeping and roll reduction of the ship in random waves using different sliding mode controllers

In the paper, an autopilot system composed of sliding mode controller and line-of-sight guidance technique are adopted to navigate the ship in random waves by altering the rudder deflection. Two kinds of sliding mode controller are considered; one is the separate system including sway–yaw control and roll control, the other is the compact system considering sway–roll–yaw control altogether. Both track keeping and roll reduction are accomplished by rudder control and the design parameters of controller are optimized by genetic algorithm. The present simulation results show both the separate controller and the compact controller work quite well, either for track keeping or roll reduction while the ship is sailing in random waves. However, the separate controller is recommended due to its simplicity.     

Robust trajectory control of underwater vehicles using time delay control law

A new control scheme for robust trajectory control based on direct estimation of system dynamics is proposed for underwater vehicles. The proposed controller can work satisfactorily under heavy uncertainty that is commonly encountered in the case of underwater vehicle control. The dynamics of the plant are approximately canceled through the feedback of delayed accelerations and control inputs. Knowledge of the bounds on uncertain terms is not required. It is shown that only the rigid body inertia matrix is sufficient to design the controller. The control law is conceptually simple and computationally easy to implement. The effectiveness of the controller is demonstrated through simulations and implementation issues are discussed.     

Ships with ventilated cavitation in seaways and active flow control

Bottom ventilated cavitation has been proven as a very effective drag reduction technology for river ships and planning boats. The ability of this technology to withstand the sea wave impact usual for seagoing ships depends on the ship bottom shape and could be enhanced by some active flow control devices. Therefore, there is the need in numerical tools to estimate the effects of bottom changes and to design such devices. The fundamentals of active flow control for the ship bottom ventilated cavitation are considered here on the basis of a special model of cavitating flows. This model takes into account the air compressibility in the cavity, as well as the multi-frequency nature of the incoming flow in wavy seas and of the cavity response on perturbations by incoming flow. The numerical method corresponding to this model was developed and widely manifested with an example of a ship model tested in a towing tank at Froude numbers between 0.4 and 0.7.The impact of waves in head seas and following seas on cavities has been studied in the range of wavelengths from 0.45 to 1.2 of the model (or ship) length. An oscillating cavitator-spoiler was considered as the flow controlling devices in this study. The oscillation magnitude and the phase shift between cavitator oscillation and the incoming waves have been varied to determine the best flow control parameters. The main results of the provided computational analysis include oscillations of cavity surface, of the pressure in cavity and of the moment of hydrodynamic load on the cavitator. The major part of computations has been carried out for the flap oscillating at the frequency coinciding with the wave frequency, but the effect of a frequency shift is also analyzed.     

Adaptive ship roll mitigation by using a U-tube tank

Active control of ship roll motion with proportional and derivative controller, linear quadratic regulator, generalized predictive control (GPC), and deadbeat predictive control, is studied by using a U-tube water tank. For the predictive control, system identification is applied to update the parameters of linear ship roll model with U-tube tank when the ship dynamics changes. Numerical simulations show that GPC has the best performance and the U-tube tank is effective in ship roll mitigation.     

Multi-variable adaptive back-stepping control of submersibles using SDU decomposition

A multi-variable adaptive autopilot for the dive-plane control of submarines is designed. The vehicle is equipped with bow and stern hydroplanes for maneuvering. It is assumed that the system parameters are not known, and the disturbance force is acting on the vehicle. Based on a back-stepping design approach, an adaptive control law is derived for the trajectory control of the depth and the pitch angle. To prevent singularity in the control law, the SDU decomposition of the high-frequency gain matrix is used for the design. In the closed-loop system, asymptotic tracking of the reference depth and pitch angle trajectories is accomplished. Simulation results are presented which show that the submarine performs dive-plane maneuvers in spite of the uncertainties in the system parameters and disturbance forces.     

Latching control of deep water wave energy devices using an active reference

This paper investigates latching type control on a floating wave energy converter in deep water. An on-board, actively controlled motion-compensated platform is used as a reference (‘active reference’) for power absorption and latching. A variational formulation is used to evaluate an optimal control sequence in the time domain. Time domain simulation results are presented for a heaving buoy in small-amplitude waves. Results are compared with an equivalent system where latching and power absorption are from a sea-bottom-fixed reference.     

Rudder roll stabilization for fishing vessel using neural network approach

This paper presents a neural network (NN) controller for a fishing vessel rudder roll system. The aim of this study is to build a NN controller which uses rudder to regulate both the yaw and roll motion. The neural controller design is accomplished with using the classical back-propagation algorithm (CBA). Effectiveness of the proposed NN control scheme is compared with linear quadratic regulator (LQR) results by simulations carried out a fishing vessel rudder roll stabilizer system.     

Neural Network-Based Active Control for Offshore Platforms

1 .IntroductionWiththedevelopmentofoceantechnology ,moreandmoreextremelylargeandlongflexibleoff shoreplatformsusedforoilexplorationanddrillingoperationarebuiltinhostileoceanenvironments .Ingeneral,thiskindofplatformsisanonlineardistributedparametersystemanditsnaturalfrequencyfallsclosertothedominantwavefrequencieswiththeincreaseofwaterdepth .Besides ,itsstructureisverycomplexandtheexternalwaveforceontheplatformisuncertain .Thus ,theseplatformsarepronetoexcessivewave inducedoscillationsunderbot…     

Path following control of fully-actuated autonomous underwater vehicle in presence of fast-varying disturbances

This paper presents an improved active disturbances rejecter control (ADRC) for path following control of autonomous underwater vehicles under significant fast-varying disturbances caused by waves and sea currents. Two significant and efficient improvements are introduced to the traditional ADRC in order to accomplish this task. First, a generalized ESO (GESO) and Harmonic ESO (HESO) were designed to achieve a high disturbances estimation quality. Secondly, two AUV path following controllers based on ADRC-GESO and ADRC-HESO were designed to ensure a high performance tracking in presence of periodic-type disturbances. Finally, numerical simulations were performed and the obtained results showed very significant enhancements of robustness and tracking accuracy by the proposed methods compared to conventional ADRC.     

Optimal Active Control of Wave-Induced Vibration for Offshore Platforms

An obvious motivation of this paper is to examine the effectiveness of the lateral vibration control of a jacket type offshore platform with an AMD control device, in conjunction with H2 control algorithm, which is an optimal frequency domain control method based on minimization of H2 norm of the system transfer function. In this study, the offshore platform is modeled numerically by use of the finite element method, instead of a lumped mass model. This structural model is later simplified to be single-degree-of-freedom (SDOF) system by extracting the first vibration mode of the structure. The corresponding "generalized" wave force is determined based on an analytical approximation of the first mode shape function, the physical wave loading being calculated from the linearized Morison equation. This approach facilitates the filter design for the generalized force. Furthermore, the present paper also intends to make numerical comparison between H2 active control and the corresponding passive control using a T     

Cross-track control of a slender, underactuated AUV using potential shaping

The three-dimensional directional stabilization problem is addressed for a slender autonomous underwater vehicle with three inputs: thrust, pitch moment, and yaw moment. The control law reshapes potential energy through feedback. Conditions for asymptotic stability are derived by applying Lyapunov's direct method to a control Lyapunov function constructed from the control-modified energy and other conserved quantities. Analysis proves asymptotic stability and suggests almost global convergence. The dynamic model requires minimal assumptions concerning the viscous force and moment, resulting in a directional controller that is inherently robust to uncertainty in these effects. The directional control algorithm is then extended by incorporating a line-of-sight guidance rule to enable cross-track control, or line following, although the extension requires an additional control moment about the roll axis. Spectral stability analysis provides sufficient conditions for local exponential stability and numerical simulations suggest that stability is almost globally asymptotic.     

独桩平台地震反应的TMD控制研究

采用调谐质量阻尼器（TMD）对独桩平台的地震反应进行控制，按不考虑和考虑桩－土动力相互作用两种情况分别对受控结构的地震反应进行了分析。结果表明，在考虑了桩－土动力相互作用后，TMD的控制效果虽然比不考虑桩－土动力相互作用时有所下降，但是仍然可以有效地控制独桩平台的地震反应，因此TMD是一种同样适用于独桩平台地震反应控制的结构振动控制技术。