基于谱分析原理和频率响应法的舰船纵摇运动分析

为了掌握高海况下舰船的纵摇运动规律并对其进行准确预报,分析了舰船的纵摇运动规律。运用谱分析原理和频率响应法,分别在 4 级、5 级和 6 级海况下,根据海浪谱密度函数和舰船的纵摇频率响应函数,求得其纵摇运动谱密度函数;再运用公式推导,得到其纵摇运动的时域函数;使用 MATLAB 仿真软件对舰船进行纵摇运动仿真,得到 3 种高海况条件下的舰船纵摇运动时域函数图像,并验证仿真结果的准确性。 仿真结论：在高海况下,海况等级对舰船纵摇影响显著,海况等级越高,舰船纵摇的角度值范围就越大。以某型舰船为例的预报结果：在 4 级海况下,舰船纵摇的幅度在±6°之间;在 5 级海况下,舰船纵摇的幅度在± 15°之间;在 6 级海况下,舰船纵摇幅度可以达到±30°之间。     

无人水下航行器故障预测与健康管理框架研究

针对无人水下航行器维修保障难度大、成本高的问题,论述了 PHM 技术在无人水下航行器的系统级、分系统级、设备级的应用问题,提出了一套适用于无人水下航行器机载、岸基故障预测与健康管理(PHM) 系统框架结构。分析了其中的关键技术,在此基础上进行了无人水下航行器 PHM 数据流结构设计。最后,以 PHM 技术工程应用为线索,提出了无人水下航行器 PHM 总体集成技术方案。     

基于水舱结构的UUV平衡液位算法研究

为了解决装配水舱的水下无人航行器在出航前,需人为通过调节水舱液位,使航行器处于零浮力状态的不便捷性问题,提出一种可以自动调整航行器平衡液位的方法。结合航行器自身水舱结构,通过 PID 算法将航行器的姿态信息和水舱液位信息进行整合,调节水舱水量实现航行器密度近似于当前水域密度,寻找满足航行器零浮力平衡姿态下的水舱液位。通过 MATLAB 仿真分析,该算法可以实现自主调节平衡液位的目的。     

航行体近水面航行附加质量与阻尼的数值研究

航行体近水面航行时会引起周围流场中流体的惯性运动,动能会随波浪扩散而耗散,航行体近水面运动时固有周期和幅值衰减率受水的影响可以用附加质量和阻尼系数描述。运用计算流体力学软件 STAR-CCM+开展航行体近水面自由横摇与纵摇衰减运动的数值仿真,根据不同初始角度条件下仿真得到的自由衰减时历曲线,分别计算横摇与纵摇的附加质量与阻尼系数,并结合实际运动情况,对不同初始角度条件下附加质量与阻尼系数的变化成因分别进行分析。     

台风海况下半潜式钻井平台动力性能监测与分析

半潜式钻井平台在海洋油气资源开发中发挥着重要作用,目前主要采用模型试验和数值模拟方法对其动力性能进行研究,非常缺乏台风等极端海况下半潜式平台动力响应的实海域监测数据。以某半潜式钻井平台为研究对象,构建了一套比较完善的平台动力性能监测系统,并对台风“杜苏芮”过境阶段的监测数据进行了分析。根据平台艏部气隙及运动监测数据推算了平台吃水及环境波高;采用随机波浪的统计分析方法,计算得到短期海况的有效波高、谱峰周期、能量谱等信息,通过与多种典型海浪谱对比发现Jonswap谱与所测波谱吻合较好;对平台的横摇、纵摇及垂荡运动进行了时域统计分析和频域谱分析,得到了台风海况下被测平台波频运动的实际响应特征,对于指导平台抗台作业具有重要意义。     

一种用于水下无人航行器的局部避碰路径规划方法研究

研究水下无人航行器(UUV)的局部自动避碰路径规划,对人工势场法和速度障碍法进行改进, 提出一种在三维空间重新分配斥力的方法,联合应用人工势场法和速度障碍法,建立人工模拟势场求得合力, 通过合力的方向指引水下无人航行器航行,完成对动态静态障碍物的避让。仿真结果表明：该方法能有效在动静态混合环境下完成避碰,且平滑处理后的路径更符合水下无人航行器实际航行避碰操纵控制要求。     

基于MATLAB的自主水下航行器经典控制算法仿真分析

针对自主水下航行器在水下航行中的姿态控制问题,采用经典控制律的数学模型,依据总体参数和流体动力参数,代入到下航行器纵向运动微分方程组中,通过MATLAB自编程序运用龙格库塔法求解此微分方程组,并将经典控制方程(算法)引入到微分方程组的求解当中,其仿真分析结果验证和支持了自主水下航行器的湖上试验,为某自主水下航行器项目实...     

“海马”航行器倍受青睐

据外刊报道:美国海军新近推出了一种大排水量无人水下航行器的分析研究报告和具体方案。据透露,这种无人水下航行器的排水量可能为5吨左右。是迄今为止美国研制的排水量最大的一种水下航行器。它可在多种平台上部署,包括SSGN导弹潜艇、“弗吉尼亚”级攻击核潜艇和水面舰     

第五讲 船舶运动性能是优选航线的重要依据

前面已经谈到,海洋水文气象条件是航行安全和经济航运的重要保证。在海洋环境中,船会遇到风、浪、流引起的阻力,也会发生遥摆砰击,结果往往导致航行失速、结构损伤,甚至造成严重的海难。而且,不同类型的船,即使在相同的海况条件下,呈现的运动状态也很不相同,所以在优选航线过程中不能忽视船舶本身的运动性能。 船的摇摆和砰击 船的摇摆包含6个方面的自由度: 1.横摇──围绕船的纵轴（由船头至船尾方向）所作的运动; 2.纵摇──围绕船的横轴所作的运动; 3.垂荡──船在垂直方向上的运动; 4.偏航──船体围绕垂直轴向的运动; 5.横飘──船体侧向运动。 6.前冲──船体纵向运动。 船的摇摆运动可用波动定律来描述,类似复合摆的运动,由简谐分析求得横摇和纵摇的     

大深度潜航器水下空间运动建模与仿真

分析大深度潜航器水下空间运动特点,建立描述其空间运动的数学模型,并以数学模型为基础利用 MATLAB\Simulink 软件完成潜航器空间运动仿真模型的开发。在搭建的仿真模型基础上,通过数学仿真手段分析了潜航器在螺旋下潜、抛载过渡、定角爬升、稳定至水面航行状态下的水下运动全过程,给出了具有弧形翼板的潜航器外形设计方案的运动能力仿真评估,为后续潜航器运动能力优化设计提供仿真依据。     

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 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.     

基于Newton法优化ARMA模型参数的船舶升沉运动预测研究

为解决波浪补偿系统中时延现象导致的控制性能下降问题,通过建立Newton-ARMA模型提前预测船舶升沉运动来消除时延现象。首先设计卡尔曼滤波器对船舶升沉运动加速度信号进行降噪滤波处理;然后使用加速度二次积分模块将加速度信号转换为位移信号;最后建立自回归滑动平均(ARMA)模型,并使用牛顿(Newton)法对模型参数进行优化,得到船舶升沉运动的Newton-ARMA预测模型。仿真结果表明,Newton-ARMA模型对船舶升沉运动的预测时间可达10 s,预测误差随着预测时间的增加而增大; Newton-ARMA模型对二级海况、三级海况和四级海况下的船舶升沉运动平均预测精度分别达到89.43%、88.53%以及87.78%,远高于ARMA模型对船舶升沉运动预测的精度,说明采用Newton法优化ARMA模型参数可以显著提高船舶升沉运动的预测精度,也即Newton-ARMA模型对控制波浪补偿系统时延具有较好的补偿效果。     

Design of passive anti-roll tanks for roll stabilization in the nonlinear range

The best way of reducing roll motion is by increasing roll damping. Bilge keels are the most common devices for increasing roll damping. If more control is required, anti-roll tanks and fins are used. Tanks have the advantage of being able to function when the ship is not underway. Our objective is to develop design procedures for passive tanks for roll reduction in rough seas. This paper focuses on the design of passive U-tube tanks. The tank-liquid equation of motion is integrated simultaneously with the six-degree-of-freedom (6DOF) equations of the ship motion. The coupled set of equations is solved by using the Large Amplitude Motion Program ‘LAMP’, which is a three-dimensional time-domain simulation of the motion of ships in waves. The unstabilized and stabilized roll motions of a S60-70 ship with forward speed and beam waves have been analyzed. For high-amplitude waves, the unstabilized roll angle exhibits typical nonlinear phenomena: a shift in the resonance frequency, multi-valued responses, and jumps. The performance of a S60-70 ship with a passive tank is investigated in various sea states with different encounter wave directions. It is found that passive anti-roll tanks tuned in the linear or nonlinear ranges are very effective in reducing the roll motion in the nonlinear range. The effect of the tank damping, frequency, and mass on the tank performance is studied. Also, it is found that passive anti-roll tanks are very effective in reducing the roll motion for ships having a pitch frequency that is nearly twice the roll frequency in sea states 5 and 6.     

随机波浪下泰勒离散系数的时域解

利用Wolk提出的粒子追踪方程,通过等分频率法划分不规则波谱,利用MATLAB做粒子运动模拟计算,得到无因次化泰勒离散系数K/D随时间t变化的曲线;通过与Huang等得到的P-M谱的泰勒离散系数K/D计算结果比较证明了本计算方法的可靠性。采用该方法研究了不规则波条件下,波序列(同一谱型不同波面序列)和谱型(谱峰周期、有效波高、谱峰升高因子)对波浪离散系数的影响;计算结果表明:同一谱型不同波序列对泰勒纵向离散系数稳定值和稳定时间无影响;不规则波谱峰周期越大,纵向离散系数K/D越小,稳定时间越短;有效波高越大,纵向离散系数K/D越大,稳定时间越长;谱峰升高因子越大,泰勒离散系数K/D越大,稳定时间越长;与规则波相比,不规则波的泰勒离散系数K/D的值略小10%~30%。     

Calculating nonlinear wave crest exceedance probabilities using a Transformed Rayleigh method

This paper concerns the calculation of the wave crest height exceedance probabilities in fully nonlinear mixed sea states. The exceedance probabilities have been calculated by incorporating a fully nonlinear wave model into a Transformed Rayleigh method. This is an efficient approach to the calculation of wave crest exceedance probabilities and, as all of the calculations are performed in the probability domain, avoids the need for long time-domain simulations. The nonlinear mixed sea states studied include a swell dominated sea state, two wind sea dominated sea states, and two states of mixed wind sea and swell with comparable energy. The wave steepness influence and the finite water depth effects are also considered in the study. The accuracy and efficiency of the Transformed Rayleigh method are validated by comparing the results predicted using the method with those predicted by using the Monte Carlo simulation method, the theoretical Rayleigh method and some empirical formulas.     

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。     

An experimental self-motion study of the Ocean Explorer AUV incontrolled sea states

This paper describes a controlled self-motion study recently carried out using a small autonomous underwater vehicle (AUV) in a controlled environment in which regular and random waves can be generated accurately for various frequencies and heights. In this study, the AUV was one of the Florida Atlantic University's Ocean Explorer series vehicles, and the controlled environment was chosen to be the Maneuvering And Sea-Keeping (MASK) facilities located at the David Taylor Model Basin. During the entire study, 29 sets of experimental motion and wave data were collected under various wave frequencies and heights, vehicle alignment, and operating depths. Due to the wave tank constraint, the vehicle speed was restricted to be less than 1.5 m/s and the wave frequency higher than 0.3 Hz without significantly affecting the self-motion analysis. Time history and power spectral density results suggest that the roll-induced pitching response was considerably larger for the wave frequencies tested, as compared to the pitch-induced rolling response. Standard deviation results reveal that the existing OEX is capable of producing approximately 3° (peak-to-peak) pitch, 0.7° (peak-to-peak) roll, and 0.6° (peak-to-peak) yaw at 2-m depth in the head-sea condition when the encountering wave frequency is close to 0.4 Hz. However, at 1.5-m vehicle depth, significant surges were observed in pitching and rolling motion, suggesting that the OEX is currently unsuitable to maintain accurate depth-following within this range at sea-state 2 or higher. It is hoped that the results presented can provide better insights into how a small AUV with a nonideal body shape reacts to waves of different sea states, and how vehicle self-motion can be streamlined by choosing proper vehicle speed, heading, and depth, given that the wave characteristics are available     

Combined satellite altimetry and shipborne gravimetry data processing

The recovery of quantities related to the gravity field (i.e., geoid heights and gravity anomalies) is carried out in a test area of the central Mediterranean Sea using 5' × 5' marine gravity data and satellite altimeter data from the Geodetic Mission (GM) of ERS‐J. The optimal combination of the two heterogeneous data sources is performed using (1) the space‐domain least‐squares collocation (LSC) method, and (2) the frequency‐domain input‐output system theory (IOST). The results derived by these methods agree at the level of 2 cm in terms of standard deviation in the case of the geoid height prediction. The gravity anomaly prediction results by the same methods vary between 2.18 and 2.54 mGal in terms of standard deviation. In all cases, the spectral techniques have a much higher computational efficiency than the collocation procedure. In order to investigate the importance of satellite altimetry for gravity field modeling, a pure gravimetric geoid solution, carried out in a previous study for our lest area by the fast collocation approach (FCOL), is used in comparison with the combined geoid models. The combined solutions give more accurate results, at the level of about 15 cm in terms of standard deviation, than the gravimetric geoid solution, when the geoid heights derived by each method are compared with TOPEX altimeter sea surface heights (SSHs). Moreover, nonisotropic power spectral density functions (PSDs) can be easily used by IOST, while LSC requires isotropic covariance functions. The results show that higher prediction accuracies are always obtained when using a priori nonisotropic information instead of isotropic information.