Fully coupled time-domain simulation of dynamic positioning semi-submersible platform using dynamic surface control

A fully coupled 6-degree-of-freedom nonlinear dynamic model is presented to analyze the dynamic response of a semi-submersible platform which is equipped with the dynamic positioning （DP） system. In the control force design, a dynamic model of reference linear drift frequency in the horizontal plane is introduced. The dynamic surface control （DSC） is used to design a control strategy for the DP. Compared with the traditional back-stepping methods, the dynamic surface control combined with radial basis function （RBF） neural networks （NNs） can avoid differentiating intermediate variables repeatedly in every design step due to the introduction of a first order filter. Low frequency motions obtained from total motions by a low pass filter are chosen to be the inputs for the RBF NNs which are used to approximate the low frequency wave force. Considering the propellers’ wear and tear, the effect of filtering frequencies for the control force is discussed. Based on power consumptions and positioning requirements, the NN cen-ters are determined. Moreover, the RBF NNs used to approximate the total wave force are built to monitor the disturbances. With the DP assistance, the results of fully coupled dynamic response simulations are given to illustrate the effectiveness of the proposed con-trol strategy.     

广西佛子矿业有限公司

正广西佛子矿业有限公司属广西华锡集团股份有限公司二级子公司,矿区面积13.285 2km2,矿区分为河三矿区和古益矿区。矿山筹建于1966年,先期开发河三矿区,于1968年开始投产,古益矿区于1984年10月开始投产。矿山初期年采选能力19.8万吨/年,经过多次技术改造与建设,目前采选生产能力为45万吨/年,     

基于ROMS模型数值研究南海温跃层的季节变化

On the basis of the regional ocean modeling system （ROMS）, the seasonal variations of the thermocline in the South China Sea （SCS） were numerically investigated. The simulated hydrodynamics are in accordance with previous studies： the circulation pattern in the SCS is cyclonic in winter and anticyclonic in summer, and such a change is mostly driven by the monsoon winds. The errors between the modeled temperature profiles and the observations obtained by cruises are quite small in the upper layers of the ocean, indicating that the ocean status is reasonably simulated. On the basis of the shapes of the vertical temperature profiles, five thermocline types （shallow thermocline, deep thermocline, hybrid thermocline, double thermocline, and multiple thermocline） are defined herein. In winter, when the northeasterly monsoon prevails, most shallow shelf seas in the northwest of the SCS are well mixed, and there is no obvious thermocline. The deep region generally has a deep thermocline, and the hybrid or double thermocline often occurs in the areas near the cold eddy in the south of the SCS. In summer, when the southwesterly monsoon prevails, the shelf sea area with a shallow thermocline greatly expands. The distribution of different thermocline types shows a relationship with ocean bathymetry： from shallow to deep waters, the thermocline types generally change from shallow or hybrid to deep thermocline, and the double or multiple thermocline usually occurs in the steep regions. The seasonal variations of the three major thermocline characteristics （the upper bound depth, thickness, and intensity） are also discussed. Since the SCS is also an area where tropical cyclones frequently occur, the response of thermocline to a typhoon process in a short time scale is also analyzed.     

Distributional characteristics of grain sizes of surface sediments in the Zhujiang River Estuary

Distributions of the parameters of sedimentary grain sizes and their correlations were studied to trace the sources of silts and their movement trends in the Zhujiang River Estuary based on the analyses of grain sizes from more than 1080 sedimentary samples. The distributions of the median diameter, public value, quartile deviation, and skewness of sediments were complex in the Zhuiiang River Estuary mainly because of the impact of the matter source regions, distances from the source regions, and hydrodynamic conditions, such as waves, tidal currents, and coastal currents. Analyses of the parameters of the grain sizes for the various types of sediments showed that the distributions of the surface sediments in the Zhujiang River Estuary were controlled by many factors. Their matter sources were mainly the sediments discharged from the runoffs and ebb tidal currents, and from the open sea. The sediments mainly moved by suspension movement. The silts formed a large area of sediments with suspended fine silts in the Zhujiang River Estuary by internal adjustment transportation in the area, and moved toward the western coast of the Zhujiang River Estuary under the effect of Coriolis forces and coastal currents.     

Design of a hydraulic power take-off system for the wave energy device with an inverse pendulum

This paper describes a dual-stroke acting hydraulic power take-off （PTO） system employed in the wave energy converter （WEC） with an inverse pendulum. The hydraulic PTO converts slow irregular reciprocating wave motions to relatively smooth, fast rotation of an electrical generator. The design of the hydraulic PTO system and its control are critical to maximize the generated power. A time domain simulation study and the laboratory experiment of the full-scale beach test are presented. The results of the simulation and laboratory experiments including their comparison at full-scale are also presented, which have validated the rationality of the design and the reliability of some key components of the prototype of the WEC with an inverse pendulum with the dual-stroke acting hydraulic PTO system.     

Numerical simulation and experimental research on hydrodynamic performance of propeller with varying shaft depths

In order to study hydrodynamic performance of a propeller in the free surface, the numerical simulation and open-water experiments are carried out with varying shaft depths of propeller. The influences of shaft depths of a propeller on thrust and torque coefficient in calm water are mainly studied. Meanwhile, this paper also studies the propeller air-ingestion under special working conditions by experiment and theoretical calculation method, and compares the calculation results and experimental results. The results prove that the theoretical calculation model used in this paper can imitate the propeller air-ingestion successfully. The successful phenomenon simulation provides an essential theoretical basis to understand the physical essence of the propeller air-ingestion.     

Nonlinear optimization method of ship floating condition calculation in wave based on vector

Ship floating condition in regular waves is calculated. New equations controlling any ship＇s floating condition are proposed by use of the vector operation. This form is a nonlinear optimization problem which can be solved using the penalty function method with constant coefficients. And the solving process is accelerated by dichotomy. During the solving process, the ship＇s displacement and buoyant centre have been calculated by the integration of the ship surface according to the waterline. The ship surface is described using an accumulative chord length theory in order to determine the displacement, the buoyancy center and the waterline. The draught forming the waterline at each station can be found out by calculating the intersection of the ship surface and the wave surface. The results of an example indicate that this method is exact and efficient. It can calculate the ship floating condition in regular waves as well as simplify the calculation and improve the computational efficiency and the precision of results.     

莱州湾东岸近岸海域规划围填海后冲淤演变预测

运用Mike21模型中的水动力模块对研究区的潮流场进行了模拟,分析研究区的冲淤趋势;利用经验公式,对波浪和潮流进行耦合,计算出极端条件下的最大冲刷深度,对比规划用海实施前后的最大冲刷深度,以对该区域的海岸防护、工程选址等提供科学依据。结果表明:受到填海工程的影响,龙口湾内有轻微淤积,界河至石虎咀近岸海域的波浪和潮流受工程影响而变小,冲刷强度变弱。     

船舶海平面气压观测资料质量控制

随着数值预报模式不断发展,各类观测资料在数值模式中发挥着越来越重要的作用,船舶观测资料是海上3类观测系统 (卫星、飞机、船舶) 资料之一。为了保障船舶观测资料质量并有效地应用于数值模式,该文依据船舶观测资料的时空分布特征,以及2011年1月和7月T639分析场与观测资料对比分析结果,建立了一套船舶海平面气压资料质量控制方案,包括要素极值范围检查、缺测和冗余资料剔除、背景场一致性检查、测站黑名单建立等,并将该方案应用于2011年2月、6月、8月的观测资料。结果表明:船舶观测资料在时间上不连续且空间分布不均匀,会影响时间一致性检查和空间一致性检查质量控制效果;船舶海平面气压观测资料在所有观测要素中资料量最大,但其缺测和冗余资料量约占50%;黑名单资料的质量控制方案能够有效识别和剔除黑名单资料,且有利于对各测站的检查与维修工作;由于五大湖和大奴湖地区地形高度的影响,在背景场一致性检查过程中需对这些区域的背景场资料进行订正。     

引入强跟踪滤波器的 IMM 算法在导航定位解算中的应用

针对单一模型对城市机动载体运动状态估计不足的问题,本文在标准交互式多模型算法的基础上引入强跟踪滤波器,并以“当前”模型和“CV”模型作为基础模型进行交互式模型滤波。利用信号源仿真动态数据分析对比了利用单一模型算法、标准交互式多模型算法和引入强跟踪滤波器的交互式多模型算法的定位解算性能。实验结果表明：本文提出的基于强跟踪滤波器的交互式多模型算法相比于“当前”模型滤波和标准IM M 算法径向误差方差分别从19.11和16.78降低到13.24．