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.     

A statistical analysis of typhoon frequency and application in design wave height

A typhoon leading is an important natural disaster to many disasters to China. A giant wave caused by it has brought large threat for an offshore project. Based on the maximum entropy principle,one new model which has 4 undetermined parameters is constructed,which is called the discrete maximum entropy probabilistic model. In practical applications,the design wave height is considered as soon as possible in a typhoon affected sea areas,the result fits the observed data well. Further more this model does not have the priority compared with other distributions as Poisson distribution. The model provides a theoretical basis for the engineering design more reasonable when considering typhoon factors comprehensively.     

基于GPS单点测速的海浪测量方法初探

首先分析比对了已有的测波方法,阐述了将GPS单点测速应用到测波中的优点.然后讨论了基于多普勒频移的测速方法,并分析了各类误差对测速精度的影响.最后利用静态数据进行动态测速模拟试验和实测动态数据测速与RTK (Real Time Kinematic,实时动态测量系统)位置差分测速进行—致性检验.结果表明,使用静态数据采用...     

Study on scattering wave force of horizontal and vertical plate type breakwaters

The interaction between wave and horizontal and vertical plates is investigated by the boundary element method,and the relations of wave exciting force with plate thickness,submergence and length are obtained.It is found that:1) The efficient wave exciting force exists while plate submergence is less than 0.5 m,and the plate is very thin with order O(0.005 m).2) The maximum heave wave exciting force exists,and it is the main factor for surface and submerged horizontal plate while the roll force can be ignored.3) The maximum sway wave exciting force exists,it is the main factor for surface or submerged vertical plate,and the roll force is about 20 times of horizontal plate.     

Strength Analysis of Turret Mooring Productive/Storage Tanker

The longitudinal strength of turret mooring productive/storage tanker is studied.A numeri-cal example has been implemented according to the method presented in this paper to give practical il-lustration.From the results of the numerical example,it is concluded that the turret hole located near theforward of the amidships has small effect on the longitudinal strength of the ship hull.As for design ex-treme value of wave bending moment of storage tanker,statistic method is a more reasonablemethodology,especially with the consideration of the servere environmental conditions.The primary esti-mation of design section modulus of turret storage tanker can be determined by this design bending mo-ment.     

三次样条插值在浮性频率计算中的应用

在普遍利用海洋观测站标准层的温度、盐度数据估算稳定层化海水浮性频率的传统算法中引入自然三次样条插植方法，不仅可使计算结果的精度得以提高，而且还可方便地对观测深度范围内的任一水层进行插值，从而获得总体曲率最小的温度、盐度和浮性频率随深度的分布。本文以南海（13°30’N，118°30’E；9°30’N，lll°30’E）及北太平洋（40°00’N130°00’W）3个测站为例，说明了在浮性频率的传统算法中引入自然三次样条插值法的可行性。     

迎风有限元法在三维潮流数值模拟中的应用

为研究和开发迎风有限元法在河口海岸三维波数值模拟中的应用，并为建立三维物质扩散模型，最终为解决实际工程问题打下基础，以非线性浅水波方程为基础，采用一咱平面迎风有奶元与垂向工有限差分相结合地数值计算方法建立三维潮流数学模型，基地实际的物理过程，在计算中将三维流动分成外重力波和内重力波，耦联求解潮位和流速的空间分布。应用本模式计算了天津新港附近渤海海域的三维潮流运动，以较高的分辩率揭示了潮流空间结构特     

Gravity torques for surface waves

The effects of the gravity torques acting on the angular momentum of surface gravity waves are calculated theoretically. For short crested waves the gravity torque is caused by the force of gravity on the orbiting fluid particles acting down the slopes of the crests and troughs and in the direction parallel to the crests and troughs. The gravity torque tries to rotate the angular momentum vectors, and thus the waves themselves, counterclockwise in the horizontal plane, as viewed from above, in both hemispheres. The amount of rotation per unit time is computed to be significant assuming reasonable values for the along-crest and trough slopes for waves in a storm area. The gravity torque has a frequency which is double the frequency of the waves. For long crested waves the gravity torque acts in the vertical plane of the orbit and tries to decelerate the particles when they rise and accelerate them when they fall. By disrupting the horizontal cyclostrophic balance of forces on the fluid particles (centrifugal force versus pressure force) the gravity torque accounts qualitatively for the three characteristics of breaking waves: that they break at the surface, that they break at the crest, and that the crest breaks in the direction of wave propagation.     

A Study on the Spectral Form of Nearshore Water Waves

- The spectral form of wind waves is investigated based on the ocean wave data observed at three nearshore stations of Taiwan. In this study, the generalized forms of Pierson-Moskowitz spectrum and JONSWAP spectrum are used to describe the local wave spectrum by selecting suitable spectral form parameters. It is shown that, at a specific site, the similarity of wave spectral form exists. Thus it is possible to use a representative spectral form for a given nearshore region to describe the wave spectrum at this nearshore. On the other hand, the effects of relative water depth on spectral form are examined. The feasibility of two spectral models in finite water depth is evaluated by using the same field wave data.     

南海罗斯贝变形半径的地理及季节变化

根据南海 1°× 1°网格的标准层季节平均温、盐度资料 ,在未引入Boussinesq近似条件下 ,采用改进的Thompson Haskell算法求解线性化斜压海洋水平大尺度波的垂直结构方程 (重力内波方程 ) ,从而得到了南海各网格点的第一斜压重力波相速度和相应的罗斯贝变形半径 ,并探讨其地理分布和季节变化特征 ,以期有助于南海环流和中尺度涡旋以及有关海洋侧边界效应的研究。