高频电力线信息传输的电机模型与仿真

研究在电机驱动系统中,电力线通信的建模问题,着重讨论在高频时电机输入阻抗的特性下,电机模型的建立.通过实验测量得到电机和电力线在频率100 kHz～40 MHz的输入阻抗特性曲线,并分析高频输入阻抗的谐振特点.在Matlab中,提出基于阻抗公式的分析法、最小均方值误差估计法以及最优化方法进行模型的参数识别,将得到的参数代入模型中可以得到电机的阻抗模型.电机模型的精确度可以通过仿真曲线和测量曲线的逼近程度看出,从结果看仿真得到的阻抗曲线跟实际测量的阻抗曲线走向基本一致.     

An improved analytical approach for simulating the lateral kinematic distress of deepwater offshore pipelines

Offshore pipelines are critical infrastructures and any possible damage may have devastating financial and environmental consequences. Earthquake-related geohazards (such as strong ground motion, active seismic faults, submarine landslides and debris flows) consist crucial threats that an offshore pipeline has to overcome. The main aim of the current study is to examine analytically a seabed-laid offshore pipeline subjected to a lateral kinematic distress due to a submarine landslide or a debris flow. Extra emphasis is given on the impact of pipe-soil interaction on the pipe response, by the realistic representation of the soil resistance via a tri-linear model. Firstly, the proposed analytical model is validated with a numerical model utilizing the finite-element method. Subsequently, various combinations of soil parameters and loading conditions that affect the examined problem are investigated with realistic input data taken from the offshore section of the high-pressure natural-gas pipeline TAP (Trans Adriatic Pipeline) in the Adriatic Sea. Finally, useful conclusions are drawn regarding the applicability and the efficiency of the proposed approach.     

An efficient and robust approach to predict ship self-propulsion coefficients

Achieving a reliable and accurate numerical prediction of the self-propulsion performance of a ship is still an open problem that poses some relevant issues. Several CFD methods, ranging from boundary element methods (BEM) to higher-fidelity viscous Reynolds averaged Navier–Stokes (RANS) based solvers, can be used to accurately analyze the separate problems, i.e. the open water propeller and the hull calm water resistance. However, when the fully-coupled self-propulsion problem is considered, i.e. the hull advancing at uniform speed propelled by its own propulsion system, several complexities rise up. Typical flow simplifications adopted to speed-up the simulations of the single analysis (hull and propeller separately) lose their validity requiring a more complex solver to tackle the fully-coupled problem. The complexity rises up further when considering a maneuver condition. This aspect increases the computational burden and, consequently, the required time which becomes prohibitive in a preliminary ship design stage.The majority of the simplified methods proposed in literature to include propeller effects, without directly solve the propeller flow, in a high-fidelity viscous solver are not able to provide all the commonly required self-propulsion coefficients. In this work, a new method to enrich the results from a body force based approach is proposed and investigated, with the aim to reduce as much as possible the computational burden without losing any useful result. This procedure is tested for validation on the KCS hull form in self-propulsion and maneuver conditions.     

Analytical convolution model for shipping water evolution on a fixed structure

The shipping of water is a problem that affects naval and offshore structures. Estimating its propagation on the decks of these structures by using analytical methods has been a main concern of projects. However, classical approaches disregard the decay tendency of water elevation time series and tend to overestimate the resultant water on deck. This paper is concerned with estimating the evolution of water along the deck of a fixed structure due to shipping water events. An analytical convolution model is proposed to estimate water elevations. The model considers the freeboard exceedance time series and the mean shipping flow velocity as inputs and the frictional effects of the bottom by resistance coefficients, which enables an approximated representation of the water elevation time series over the deck. It was validated with experiments of isolated shipping water events that were generated with the wet dam-break approach. The results obtained with the proposed model captured the experimental results, approximating the peak values and the decay trend of time series. Improvement of the proposed approach over classical models to represent shipping water elevations was demonstrated by comparing the results obtained with those of the dam-break model of Stoker.     

Closed-loop randomized kinodynamic path planning for an autonomous underwater vehicle

A randomized kinodynamic path planning algorithm based on the incremental sampling-based method is proposed here as the state-of-the-art in this field applicable in an autonomous underwater vehicle. Designing a feasible path for this vehicle from an initial position and velocity to a target position and velocity in three-dimensional spaces by considering the kinematic constraints such as obstacles avoidance and dynamic constraints such as hard bounds and non-holonomic characteristic of AUV are the main motivation of this research. For this purpose, a closed-loop rapidly-exploring random tree (CL-RRT) algorithm is presented. This CL-RRT consists of three tightly coupled components: a RRT algorithm, three fuzzy proportional-derivative controllers for heading and diving control and a six degree-of-freedom nonlinear AUV model. The branches of CL-RRT are expanded in the configuration space by considering the kinodynamic constraints of AUV. The feasibility of each branch and random offspring vertex in the CL-RRT is checked against the mentioned constraints of AUV. Next, if the planned branch is feasible by the AUV, then the control signals and related vertex are recorded through the path planner to design the final path. This proposed algorithm is implemented on a single board computer (SBC) through the xPC Target and then four test-cases are designed in 3D space. The results of the processor-in-the-loop tests are compared by the conventional RRT and indicate that the proposed CL-RRT not only in a rapid manner plans an initial path, but also the planned path is feasible by the AUV.     

Dynamic modeling and vibration suppression for an offshore wind turbine with a tuned mass damper in floating platform

The worldwide demand for renewable energy is increasing rapidly. Wind energy appears as a good solution to copy with the energy shortage situation. In recent years, offshore wind energy has become an attractive option due to the increasing development of the multitudinous offshore wind turbines. Because of the unstable vibration for the barge-type offshore wind turbine in various maritime conditions, an ameliorative method incorporating a tuned mass damper (TMD) in offshore wind turbine platform is proposed to demonstrate the improvement of the structural dynamic performance in this investigation. The Lagrange's equations are applied to establish a limited degree-of-freedom (DOF) mathematical model for the barge-type offshore wind turbine. The objective function is defined as the suppression rate of the standard deviation for the tower top deflection due to the fact that the tower top deflection is essential to the tower bottom fatigue loads, then frequency tuning method and genetic algorithm (GA) are employed respectively to obtain the globally optimum TMD design parameters using this objective function. Numerical simulations based on FAST have been carried out in typical load cases in order to evaluate the effect of the passive control system. The need to prevent the platform mass increasing obviously has become apparent due to the installation of a heavy TMD in the barge-type platform. In this case, partial ballast is substituted for the equal mass of the tuned mass damper, and then the vibration mitigation is simulated in five typical load cases. The results show that the passive control can improve the dynamic responses of the barge-type wind turbine by placing a TMD in the floating platform. Through replacing partial ballast with a uniform mass of the tuned mass damper, a significant reduction of the dynamic response is also observed in simulation results for the barge-type floating structure.     

Formation control of multiple underwater vehicles subject to communication faults and uncertainties

This paper proposes a novel approach to analyze and design the formation keeping control protocols for multiple underwater vehicles in the presence of communication faults and possible uncertainties. First, we formulate the considered vehicle model as the Port-controlled Hamiltonian form, and introduce the spring-damping system based formation control. Next, the dynamics of multiple underwater vehicles under uncertain relative information is reformulated as a network of Lur’e systems. Moreover, the agents under unknown disturbances generated by an external system are considered, where the internal model is applied to tackle the uncertainties, which still can be regulated as the Lur’e systems. In each case, the formation control is derived from solving LMI problems. Finally, a numerical example is introduced to illustrate the effectiveness of the proposed theoretical approach.     

A simplified hindcast method for the estimation of extreme storm surge events in semi-enclosed basins

Human presence, coastal erosion, and tourism activities are increasing the attention to coastal flooding risk. To perform risk assessments, long time series of observed or hindcast wave parameters and tide levels are then necessary. In some cases, only a few years of observation are available, so that observed extreme data are not always representative and reliable. A hindcast system aimed to reconstruct long time series of total tide levels may be of great help to perform robust extreme events analysis and then to protect human life, activities as well as to counteract coastal erosion by means of risk assessments. This work aims to propose a simplified method to hindcast storm surge levels time series in semi-enclosed basins with low computational costs. The method is an extension of a previous work of some of the authors and consists of a mixed approach in which the estimation of storm surge obtained by using the theory of linear dynamic system is corrected by using a statistical method. Both steps are characterized by low computational costs. Nevertheless, the results may be considered reliable enough also in view of the simplicity of the approach. The proposed method has been applied to the Manfredonia case study, a small village located in the Southern Adriatic Italian coast and often prone to coastal flooding events. The comparison of extreme events estimated on the basis of hindcast levels time series is satisfactorily similar to those estimated on the basis of observed tide series.     

Temporal variation of modulated-wave-train geometries and their influence on vertical bending moments of a container ship

A towing experiment was conducted using a modulated wave train to investigate the vertical bending responses of a hydro-structural container ship model. In the experiment, a spatially periodic modulated wave train, as a model of a freak wave in successive high waves mimicking the so-called three sisters, was generated by the recently established higher-order spectral method wave generation (HOSM-WG) method. HOSM-WG enables us to control the location and timing of the maximum crest height in a wave tank. With precise control of the towing carriage, an experiment was conducted in which the timing of the encounters between the ship model and the modulated wave train was accurately determined. The maximum sagging moment (SM) was found to increase in proportion with the encounter wave height. However, because of differences in the relative depth of the fore and aft troughs, the maximum SM is highly variable for a given wave height. The temporal wave-geometry evolution caused the relative trough-depth to vary significantly within a wave period in the vicinity of the maximum crest height. As a result, depending on the encounter timing, the SM varied considerably for a given wave height. The temporal variation of the wave geometry is a robust feature of a modulated wave train and is common between the spatially periodic and temporally periodic modulated wave trains.     

Study of irregular wave run-up over fringing reefs based on a shock-capturing Boussinesq model

This paper presents the results of a parametric study of irregular wave run-up over fringing reefs using the shock-capturing Boussinesq wave model Funwave-TVD to better understand the role of fringing reefs in the mitigation of wave-driven flooding. Laboratory experiments were newly performed with a typical fringing reef profile and typical hydrodynamic conditions to validate the model. Experimental data shows irregular wave run-ups are dominated by the low-frequency motions and confirms the run-up resonant phenomenon over the back-reef slope, which has been revealed in previous numerical studies. It is demonstrated that irregular wave evolution and run-up over fringing reefs are reasonably reproduced by the present model with a proper grid size. However, the infragravity run-up height and highest 2% run-up height over the back-reef slope are under-predicted due to the underestimation of the infragravity wave height over the reef flat. The validated model was then utilized to model irregular wave transformations and run-ups under different conditions. Through a series of numerical experiments, the effects of key hydrodynamic and reef geometry parameters, including the reef flat width, water depth over the reef flat, fore-reef slope angle and back-reef slope angle, on the irregular wave run-up were investigated. Variations of spectral components of irregular wave run-ups were examined to better understand the physical process underlying the effect of each parameter.