The nonlinear hydrodynamic model for simulating a ship steering in waves with autopilot system

In the paper, a hydrodynamic numerical model including wave effect is developed to simulate ship autopilot systems by using the time domain analysis. The PD controller and the sliding mode controller are adopted as the autopilot systems. The differences of simulation results between two controllers are analyzed by cost function composed of heading angle error and rudder deflection, either in calm water or in waves. The results in calm water show that both controllers are tracking well for the desired route with the similar cost function value by tuning the key design parameters. However, the course tracking ability of the controller using sliding mode in waves is generally better even the cost function value is similar.     

Time-domain numerical and segmented ship model experimental analyses of hydroelastic responses of a large container ship in oblique regular waves

Real sea conditions are characterized by multidirectional sea waves. However, the prediction of hull load responses in oblique waves is a difficult problem due to numeral divergence. This paper focuses on the investigation of numerical and experimental methods of load responses of ultra-large vessels in oblique regular waves. A three dimensional nonlinear hydroelastic method is proposed. In order to numerically solve the divergence problem of time-domain motion equations in oblique waves, a proportional, integral and derivative (PID) autopilot model is applied. A tank model measurement methodology is used to conduct experiments for hydroelastic responses of a large container ship in oblique regular waves. To implement the tests, a segmented ship model and oblique wave testing system are designed and assembled. Then a series of tests corresponding to various wave headings are carried out to investigate the vibrational characteristics of the model. Finally, time-domain numerical simulations of the ship are carried out. The numerical analysis results by the presented method show good agreement with experimental results.     

THE EQUAL PROBABILISTIC COMBINATION BETWEEN SEA STATE AND RESPONSE OF STRUCTURE

Combination of a fixed design wave height with various wave periods may exert quite different wave loads on ocean structure. The response of structure induced by mild sea state may be larger than that by severe sea state because the frequency of the spectral peak for mild sea state is near to the natural frequency of structure. Thus it is necessary to investigate the worst combination between wave height and period, and also the critical combination between sea state and response for any design criteria. This paper presents a new combinative mode of wave height and period for equal return period. The selections of original design wave height and the critical combination of sea state with response for equal probability are also discussed.     

Design and experiment of a small boat track-keeping autopilot

A real time kinematic (RTK), GPS-based, track-keeping control of a small boat is discussed in this paper. The internal model control (IMC) method is adopted in the autopilot design and the controller is recast in the PID controller format that is characterized by its simple structure and relative ease of implementation. The track-keeping mission is achieved through a sequence of course-changing maneuvers and the reference heading is computed with the line-of-sight (LOS) guidance law. Path planning based on Bezier curves to achieve obstacle avoidance is investigated. First, computer simulations are carried out to find the feasible controller design parameter that achieves satisfactory simulation results. Then the feasible controller design parameter is applied in the small-boat-based experiments to demonstrate the practical use of the proposed autopilot design method.     

海浪外观统计与内部结构关系的数值研究

基于数值模拟的三维随机海面,从时间域和空间域两个角度对海浪的外观特征和内部结构间的关系进行了研究,得出了一些在工程应用上有参考价值的结果.文章认为,将波面看作是若干随机正弦波叠加的海浪结构模型,用于描述平稳、均匀和窄谱的海况时,其频谱分析结果与外观统计结果基本上是一致的;但是,当海面处于谱宽度较大的风浪或混合浪状态时,一些频谱分析结果必须经过修正才能应用.同一海况下,海面波动的时间过程和沿主波向的空间分布是明显不同的.当海面有突发性大浪时,外频谱能够很好地反映不平稳海况,而频谱则把这种不平稳性平滑了.文章着重讨论了波长和波陡的计算、频谱和外频谱的差异.     

海浪的特征波陡

在现有的海浪要素统计分布的理论框架下具体地推导了二维海浪波良与波长的联合统计分布,波长统计分布以及波陡的统计分布,在此基础上对上特征波陡的定义及期 承风要素的变化规律做了较为细致的讨论。     

海面粗糙度方案的适用性研究

由量纲分析导出海面粗糙度与波龄及海面涌浪的状况有关,并对与波龄和波陡有关的两种海面粗糙度模型方案进行了敏感性测试,得出利用波龄模型方案计算粗糙度的误差比利用波陡模型方案小。基于国际上6个不同水深、风区和海况条件的海气交换试验资料,将其分为两组,一组是纯风海或以风海为主海况条件,另一组是以涌浪为主海况条件,测试波龄、波陡模型海面粗糙度方案在不同试验条件下的适用性。结果得出:在各种海况条件下,波龄模型粗糙度方案比波陡模型具有更好的普适性。在纯风海或以风海为主海况条件下,PS07,DGHQ03方案计算的粗糙度长度与实测资料计算结果最接近,GW06方案次之,O02方案计算结果明显偏高;涌浪为主海况条件下两种模型方案计算的粗糙度长度均偏低,O02方案计算的粗糙度长度误差相对较小,TY01方案误差最大。     

Wave power statistics for individual waves

The paper provides a bivariate distribution of wave power and wave height, as well as a bivariate distribution of wave power and wave period; both bivariate distributions are for individual waves within a sea state. This is relevant for e.g. making assessments of wave power devices and their potential for converting energy from waves. The results can be applied to compare systematically the wave power potential for individual waves in a given sea state at different locations.     

Exploitable wave energy assessment based on ERA-Interim reanalysis data—A case study in the East China Sea and the South China Sea

Wave energy resources assessment is a very important process before the exploitation and utilization of the wave energy. At present, the existing wave energy assessment is focused on theoretical wave energy conditions for interesting areas. While the evaluation for exploitable wave energy conditions is scarcely ever performed.Generally speaking, the wave energy are non-exploitable under a high sea state and a lower sea state which must be ignored when assessing wave energy. Aiming at this situation, a case study of the East China Sea and the South China Sea is performed. First, a division basis between the theoretical wave energy and the exploitable wave energy is studied. Next, based on recent 20 a ERA-Interim wave field data, some indexes including the spatial and temporal distribution of wave power density, a wave energy exploitable ratio, a wave energy level, a wave energy stability, a total wave energy density, the seasonal variation of the total wave energy and a high sea condition frequency are calculated. And then the theoretical wave energy and the exploitable wave energy are compared each other; the distributions of the exploitable wave energy are assessed and a regional division for exploitable wave energy resources is carried out; the influence of the high sea state is evaluated. The results show that considering collapsing force of the high sea state and the utilization efficiency for wave energy, it is determined that the energy by wave with a significant wave height being not less 1 m or not greater than 4 m is the exploitable wave energy. Compared with the theoretical wave energy, the average wave power density, energy level, total wave energy density and total wave energy of the exploitable wave energy decrease obviously and the stability enhances somewhat. Pronounced differences between the theoretical wave energy and the exploitable wave energy are present. In the East China Sea and the South China Sea, the areas of an abundant and stable exploitable wave energy are primarily located in the north-central part of the South China Sea, the Luzon Strait,east of Taiwan, China and north of Ryukyu Islands; annual average exploitable wave power density values in these areas are approximately 10–15 k W/m; the exploitable coefficient of variation(COV) and seasonal variation(SV)values in these areas are less than 1.2 and 1, respectively. Some coastal areas of the Beibu Gulf, the Changjiang Estuary, the Hangzhou Bay and the Zhujiang Estuary are the poor areas of the wave energy. The areas of the high wave energy exploitable ratio is primarily in nearshore waters. The influence of the high sea state for the wave energy in nearshore waters is less than that in offshore waters. In the areas of the abundant wave energy, the influence of the high sea state for the wave energy is prominent and the utilization of wave energy is relatively difficult. The developed evaluation method may give some references for an exploitable wave energy assessment and is valuable for practical applications.     

风浪状态对海面粗糙度影响

风浪状态参数常用于对海面粗糙度的参数化。中等风速条件下考虑风浪状态参数影响的海面粗糙度参数化方案常存在自相关效应,本文通过分析实测数据得到了无量纲粗糙度随波陡变化的参数化方案,该方案能够有效去除自相关效应;高风速下风浪状态对海面粗糙度仍存在影响,文中基于新得出的中等风速下的海面粗糙度参数化方案,考虑海面飞沫悬浮层的影响,建立了适用于高风速条件下的海面粗糙度参数化方案,该海面粗糙度方案同样考虑了波陡的作用,将该方案计算出的理论值与实测数据进行比对,发现随着波陡的变化,理论值基本涉及测量值的覆盖范围,说明新建立的高风速条件下海面粗糙度方案对海面风浪状态具有较好的敏感性,且该方案能够较合理地描述海气界面之间动量传输。将新提出的适用于高风速下的海面粗糙度方案加入到海浪数值模式中,模拟飓风Ivan产生的台风浪,利用浮标数据进行验证,结果显示模拟的有效波高相对模式默认方案具有较高的精度,说明采用本文新建立的适合高风速的海面粗糙度方案能够改进海浪模式的台风浪有效波高模拟结果。     

随机海浪的列率谱分析研究

首次将列率谱分析的方法引入到随机海浪的研究。根据不同环境条件下实验室资料，对列率谱与频率谱进行了比较。结果表明，列率频对频率谱高频部分有明显改善，特别对二倍频含能段的分辨具有明显的优越性。另外，列率谱具有计算速度快、简单易行、分辨率高等优点。     

最大熵原理应用于海浪波高分布的研究

利用最大熵原理从理论上推导出波高的最大熵分布,在此基础上研究了状态参量对波高分布和波高熵的影响。影响最大熵分布的因子是平均波高和状态参量,不同海况对应的状态参量是不同的。利用波高实测资料,得出3种不同海况下的最大熵分布,通过比较发现最大熵分布很好地符合实测数据。把最大熵分布与目前广泛应用的瑞利分布作了比较,结果表明,最大熵分布有2个优点：没有对波高作出任何限制性假定和能够描述不同海况下的波高分布。     

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。     

A simplified method to downscale wave dynamics on vertical breakwaters

A coastal structure is usually designed with the final objective to guarantee its functionality and stability throughout its life cycle. Regarding stability, the three main failure modes are sliding, overturning and failure of the foundations. To accomplish the design objectives, a design sea state is usually used when calculating the loads and scour around the structure. This design sea state corresponds to a certain sea state with specific return period values of a significant wave height. However, the combination of different simultaneous sea state parameters can produce other critical situations compromising the stability of the structure which then require the calculation of long time series of wave forces corresponding to long-term historical wave situations. Moreover, a design force associated to a certain return period can be defined from the time series of the stability parameters. The most accurate techniques which can be used to estimate structure stability are based on numerical and physical models, but these are very time consuming and the calculation of long time series is therefore unfeasible. Here, we propose a hybrid methodology to transform wave conditions into wave forces acting upon vertical structures and scour around it. The methodology consists of a selection of a subset of sea states representative of wave climate at the structure location, using a maximum dissimilarity algorithm, The wave forces acting upon the structure and scour around it, for the wave situations selected, are then estimated as is the reconstruction of the calculated parameters corresponding to historical sea states using an interpolation technique based on radial basis function. The validation of the results, through a direct comparison between reconstructed series and analytically (semi-empirical formulations) calculated ones, confirms the ability of the developed methodology to reconstruct time series of stability parameters on vertical breakwaters. This methodology allows its application to numerical and physical models.     

A hybrid efficient method to downscale wave climate to coastal areas

Long-term time series of sea state parameters are required in different coastal engineering applications. In order to obtain wave data at shallow water and due to the scarcity of instrumental data, ocean wave reanalysis databases ought to be downscaled to increase the spatial resolution and simulate the wave transformation process. In this paper, a hybrid downscaling methodology to transfer wave climate to coastal areas has been developed combining a numerical wave model (dynamical downscaling) with mathematical tools (statistical downscaling). A maximum dissimilarity selection algorithm (MDA) is applied in order to obtain a representative subset of sea states in deep water areas. The reduced number of selected cases spans the marine climate variability, guaranteeing that all possible sea states are represented and capturing even the extreme events. These sea states are propagated using a state-of-the-art wave propagation model. The time series of the propagated sea state parameters at a particular location are reconstructed using a non-linear interpolation technique based on radial basis functions (RBFs), providing excellent results in a high dimensional space with scattered data as occurs in the cases selected with MDA. The numerical validation of the results confirms the ability of the developed methodology to reconstruct sea state time series in shallow water at a particular location and to estimate different spatial wave climate parameters with a considerable reduction in the computational effort.     

Autopilot control synthesis for path tracking maneuvers of underwater vehicles

This paper is concerned with the robust control synthesis of autonomous underwater vehicle(AUV) for general path following maneuvers.First,we present maneuvering kinematics and vehicle dynamics in a unified framework.Based on H∞ loop-shaping procedure,the 2-DOF autopilot controller has been presented to enhance stability and path tracking.By use of model reduction,the high-order control system is reduced to one with reasonable order,and further the scaled low-order controller has been analyzed in both the frequency and the time domains.Finally,it is shown that the autopilot control system provides robust performance and stability against prescribed levels of uncertainty.     

Characteristics of abnormal waves in North Sea storm sea states

A data set of storm wave records from the North Sea is analysed. Using current definitions of abnormal waves, eight of the largest wind waves are defined as abnormal waves. Twenty-four of the largest waves in time series, with a height larger than 10 m and with big vertical asymmetry are chosen for further analysis. Their individual characteristics are investigated and related to the global sea state characteristics. A comparison between measured data, second-order theory predictions and offshore basin data is made. The results for the chosen waves do not coincide with predictions of second-order theory. Considering that wind wave is second- and third-order non-linear, a new relationship between skewness and kurtosis is proposed for the sea states in which extremely asymmetric large waves have occurred. Another relationship between kurtosis and abnormality index of maximum waves is proposed too.     

复杂海况下水下拖缆数值分析研究

为了解复杂海况下风浪对水下拖缆的影响进行了动力学仿真研究。以P-M谱作为海浪谱密度公式,计算一组不同频率的组成波,采用线性波浪叠加法,计算由波浪引起的空间流场速度及加速度,推导叠加波的干扰力,将不规则波引入水下拖缆动力学模型中,采用四阶龙格库塔积分法对动力学模型进行数值求解,讨论拖缆在不同海况下的动力特性。结果表明,随着海况等级的提高,叠加波的频率范围逐渐降低,拖缆的垂向偏移量以及拖点处张力均会产生明显增加及波动,且其波动周期接近叠加波的平均周期;在不同浪向角的作用下,拖缆波动规律与规则波作用下类似,但也具有一些不规则波的特点。     

Representation of double-peaked sea wave spectra in Jiaozhou Bay

The spectrum shape characteristics of double-peaked sea wave spectia actually measured in the Jiaozhou Bay were analysed and one representation of double-peaked sea wave spectra with six-parameters which can be determined from a given sea wave spectrum is proposed in this paper. After verifying by fitting process with the data sets of double-peaked sea wave spectra measured in the Jiaozhou Bay, it can be seen from the results that the representation mentioned above may be used to express the double-peaked sea wave spectra generated in the Jiaozhou Bay under various sea states, and that the absolute values of maximum deviation index (D.I.) do not exceed 30. 0.     

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.