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1.
Autonomous vehicles are being developed to replace the conventional, manned surface vehicles that tow mine hunting towed platforms. While a wide body of work exists that describes numerical models of towed systems, they usually include relatively simple models of the towed bodies and neglect the dynamics of the towing vehicle. For systems in which the mass of the towing vehicle is comparable to that of the towed vehicle, it becomes important to consider the dynamics of both vehicles. In this work, we describe the development of a numerical model that accurately captures the dynamics of these new mine hunting systems. We use a lumped mass approximation for the towcable and couple this model to non-linear numerical models of an autonomous surface vehicle and an actively controlled towfish. Within the dynamics models of the two vehicles, we include non-linear controllers to allow accurate maneuvering of the towed system. 相似文献
2.
A. Benetazzo 《Ocean Engineering》2011,38(16):1755-1762
A new six Degree Of Freedom (6DOF) motion measurement technique for small-scale physical models of floating bodies is presented, based on analysis of image sequence from one camera. The proposed system consists of one camera and one target: the method estimates the 3-D rigid motion following the time evolution of the target of known pattern fixed to the moving body and framed by the camera. In particular, the rotation matrix and the translation vector of the 3-D rigid motion between initial still position and a generic moved position are calculated by assuming the existence of a planar homography between the camera CCD plane and the plane passing through the flat target surface. Geometrical relationship allows one the calculation of wanted 6DOFs for every point of the modeled body. In the paper, the method is mathematically presented in terms of equations of rigid motion with its associate accuracies. The image-based technique is illustrated on some tests carried out in an experimental multipurpose wave basin. 相似文献
3.
HAISHEN is a long-ranged and highly maneuverable AUV which has two operating modes: glider mode and flapping-foil propulsion mode. As part of the vehicle development, a three-dimensional mathematical model of the conceptual vehicle was developed on the assumption that HAISHEN has a rigid body with two independently controlled oscillating hydrofoils. A flapping-foil model was developed based on the work done by Georgiades et al. (2009). Effect of controllable hydrofoils on the vehicle stable motion performance was studied theoretically. Finally, a dynamics simulation of the vehicle in both operating modes is created in this paper. The simulation demonstrates that: (1) in the glider mode, owing to the independent control of the pitch angle of each hydrofoil, HAISHEN travels faster and more efficiently and has a smaller turning radius than conventional fix-winged gliders; (2) in the flapping-foil propulsion mode, HAISHEN has a high maneuverability with a turning radius smaller than 15 m and a forward motion velocity about 1.8 m/s; (3) the vehicle is stable under all expected operating conditions. 相似文献
4.
A new approach to multibody dynamics is investigated by treating floating wind turbines as multibody systems. The system is considered as three rigid bodies: the tower, nacelle and rotor. Three large-amplitude rotational degrees of freedom (DOFs) of the tower are described by 1-2-3 sequence Euler angles. Translation of the entire system is described by Newton’s second Law applied to the center of mass (CM) of the system and transferred to 3 translational DOFs of the tower. Additionally, two prescribed DOFs governed by mechanical control, nacelle yaw and rotor spin, are combined with the 6 DOFs of the tower to formulate the 8-DOF equations of motion (EOMs) of the system. The CM of the system is generally time-varying and not constrained to any rigid body due to the arbitrary location of the CM of each body and relative mechanical motions among the bodies. The location of the CM being independent of any body is considered in both the solution to 3 translational DOFs and the calculation of angular momentum of each body for 3 rotational DOFs. The theorem of conservation of momentum is applied to the entire multibody system directly to solve 6 unknown DOFs. Motions computed using the six nonlinear EOMs are transformed to each body in a global coordinate system at every time-step for use in the computation of hydrodynamics, aerodynamics and restoring forcing, which preserves the nonlinearity between external excitation and structural dynamics. The new method is demonstrated by simulation of the motion of a highly compliant floating wind turbine. Results are verified by critical comparison with those of the popular wind turbine dynamics software FAST. 相似文献
5.
On wave-free floating-body forms in heaving oscillation 总被引：1，自引：0，他引：1
Some wave-free heaving forms are obtained in a manner similar to Bessho's earlier work by using a source and vertical dipole combination to generate bulbous-shaped two and three-dimensional bodies which have zero radiation damping. Then the combinations of higher singularities, such as triple-pole and quadra-pole, are considered. Using the thin-ship approximation, where the boundary condition is satisfied on the centreline, a simple procedure for generating any arbitrary shape that has the same property is established. The existence of wave-free frequencies of such bodies are verified numerically, in two dimensions by a standard singularity-distribution method based on the actual body-contour and in three-dimensions by using vortex-ring distribution for an axisymmetric body. Experiments are carried out for the models obtained theoretically and the results support the theoretical predictions fairly well. Finally, some suggestions are made to apply such a wave-free body to a moored buoy to suppress its heaving oscillation. 相似文献
6.
G. De Backer M. Vantorre C. Beels J. De Pré S. Victor J. De Rouck C. Blommaert W. Van Paepegem 《Applied Ocean Research》2009,31(3):143-156
The results of an elaborate experimental investigation on bottom slamming of axisymmetric objects are presented. Drop tests have been performed on a hemisphere and two conical shapes with different deadrise angles. The test setup is designed so as to prevent small rotations of the test objects which cause scatter in the measurement data. The pressure distribution and evolution as well as the body motion parameters are measured during impact. By means of a high speed camera the water uprise is visualized and the wetting factor is determined for the cones. The results are compared with a three-dimensional asymptotic theory for axisymmetric rigid bodies with constant entry velocity. The ratio between the registered peak pressures and the asymptotic theory are in accordance with comparable experiments in the literature. The asymptotic theory, however, is found to be quite conservative, since the measured peak pressure levels appear to be approximately 50% to 75% of the theoretical levels. 相似文献
7.
Ditching often takes place for a ground-effect wing (WIG) ship. During the ditching, the extreme load developed by water impacts may cause damages to structures, posing a great threat to the safety of crew and passengers. In the paper, a weakly compressible smoothed particle hydrodynamics (SPH) model combined with enhanced numerical techniques has been adopted to tackle the ditching problems. In order to handle the motion of a rigid body in the three-dimensional ditching problems, the six degrees-of-freedom (6-DOF) equations of motion are incorporated into the SPH scheme. The accuracy of the SPH model is validated through two benchmarks, respectively, the two-dimensional wedge water entry and the three-dimensional stone-skipping. The former is aimed to validate the prediction of pressures during the free surface impact while the latter is a good case for testing the coupling motions of the rigid body. Furthermore, the ditching of the real scale WIG ship under different conditions is simulated with the established SPH model, through which some useful conclusions are drawn. 相似文献
8.
Doug Perrault Neil Bose Siu O&#x;Young Christopher D. Williams 《Ocean Engineering》2003,30(5):404-671
The sensitivity of the added mass coefficients of a typical autonomous underwater vehicle (AUV) to changes in geometric parameters was investigated. Qualitative deductions were made concerning the effect of geometric variations. Then the added mass coefficients for several configurations of body geometry were generated for the Canadian Self-Contained Off-the-shelf Underwater Testbed (C-SCOUT) vehicle using the computer program Estimate Submarine Added Mass (ESAM). The changes in the added mass coefficients have direct relationships to the varied parameter. The results presented here are specific to the C-SCOUT, but may be extended to similar axisymmetric bodies. 相似文献
9.
《Marine and Petroleum Geology》2007,24(6-9):504-514
Forward seismic models of two ‘seismic scale’ outcrops of different style channel systems have been made to investigate their seismic signature. These two outcrops illustrate the geometric end members of channel stacking architecture in response to low- and high-accommodation space. The Eocene Nohut Tepe channel system of the Elaziğ Basin in eastern Turkey was deposited in an area of high accommodation resulting in an aggradational geometrical offset stacking of channels up against a slope. The Eocene Ainsa II Channel system of the Tremp-Pamplona Basin in the Spanish Pyrenees was deposited in an area of low accommodation resulting in a tabular, compound sheet geometry, with amalgamated channel bodies separated by clay drapes.Depth models were drawn from outcrop photos and converted to impedance models by assigning acoustic impedance properties to the sand filled channels and surrounding and interbedded mud and clay layers. These were the input for the forward seismic models, which constructed various frequency synthetic seismic sections of the two outcrops. Analysis of the outcrop synthetic seismic identified three distinct reflection configurations. Type I is characterised by a strong black peak and white trough reflection, which is due to a discrete channel body. Type II is characterised by multiple offset, time ‘stepped’ black peak reflections that are underlain by one continuous, strong white trough reflection, which is due to offset stacked channel bodies. Type III is characterised by strong black peaks which onlap an underlying, continuous white trough reflection, caused by the lateral amalgamation of channel bodies.These three types of reflection configurations observed on the outcrop synthetic seismic can also be found on actual seismic from channelised turbidite systems, which aids in interpreting channel stacking architecture, accommodation space prediction and depositional styles from the actual seismic data. Channel stacking architecture is clearly an important aspect which needs to be considered when making channel system interpretations based on seismic data. 相似文献
10.
《Oceanic Engineering, IEEE Journal of》2008,33(2):59-68
11.
ABSTRACTIn this research, group method of data handling (GMDH) as a one of the self-organized approaches is utilized to predict three-dimensional free span expansion rates around pipeline due to waves. The GMDH network is developed using gene-expression programming (GEP) algorithm. In this way, GEP was performed in each neuron of GMDH instead of polynomial quadratic neuron. Effective parameters on the three-dimensional scour rates include sediment size, pipeline geometry, and wave characteristics upstream of pipeline. Four-dimensionless parameters are considered as input variables by means of dimensional analysis technique. Furthermore, scour rates along the pipeline, vertical scour rate, and additionally scour rates in the left and right of pipeline are determined as output parameters. Results of the proposed GMDH-GEP models for the training stages and testing ones are evaluated using various statistical indices. Performances of the GMDH-GEP models are compared with artificial neural network (ANN), GEP, GMDH, and traditional equations-based regression models. Moreover, sensitivity analysis and parametric study are conducted to perceive influences of different input parameters on the three-dimensional scour rates. 相似文献
12.
Analytical leading-order solutions are given for liquid bodies that hit a rigid plate in impulsive incompressible impact. The liquid bodies are broader than the impacting plate which causes a mixed boundary condition. The initial velocity field, the corresponding pressure impulse field, and the associated virtual masses are calculated. The following liquid body geometries are studied: 2D rectangles hit symmetrically by the plate, including a case with impermeable sidewalls, asymmetric hit of a 2D rectangle, and symmetric hit of a 3D rectangular box, and of a circular cylinder. A plausible estimate for liquid impact is that a marine structure can never be struck by a greater force impulse than the momentum of incoming liquid perpendicular to its own cross section. By comparing the virtual mass with the total projected fluid mass above the plate for the different liquid body geometries, it is found that the estimate holds for all the computed cases. 相似文献
13.
By integration of the second-order fluid pressure over the instantaneous wetted surface, the generalized first- and second-order fluid forces used in nonlinear hydroelastic analysis are obtained. The expressions for coefficients of the generalized first- and second-order hydrodynamic forces in irregular waves are also given. The coefficients of the restoring forces of a mooring system acting on a flexible floating body are presented. The linear and nonlinear three-dimensional hydroelastic equations of motion of a moored floating body in frequency domain are established. These equations include the second-order forces, induced by the rigid body rotations of large amplitudes in high waves, the variation of the instantaneous wetted surface and the coupling of the first order wave potentials. The first-order and second-order principal coordinates of the hydrelastic vibration of a moored floating body are calculated. The frequency characteristics of the principal coordinates are discussed. The numerical results indicate that the rigid resonance and the coupling resonance of a moored floating body can occur in low frequency domain while the flexible resonance can occur in high frequency domain. The hydroelastic responses of a moored box-type barge are also given in this paper. The effects of the second-order forces on the modes are investigated in detail. 相似文献
14.
A hydrodynamic model of a two-part underwater manoeuvrable towed system is proposed in which a depressor is equipped with active horizontal and vertical control surfaces, and a towed vehicle is attached to the lower end of a primary cable. In such a system the towed vehicle can be manoeuvred in both vertical and horizontal planes when it is towed at a certain velocity and the coupling effect of excitations at the upper end of the primary cable and disturbances of control manipulations to the towed vehicle can be reduced. In the model the hydrodynamic behavior of an underwater vehicle is described by the six-degrees-of-freedom equations of motion for submarine simulations. The added masses of an underwater vehicle are obtained from the three-dimensional potential theory. The control surface forces of the vehicle are determined by the wing theory. The results indicate that with relative simple control measures a two-part underwater manoeuvrable towed system enables the towed vehicle to travel in a wide range with a stable attitude. The method in this model gives an effective numerical approach for determining hydrodynamic characteristics of an underwater vehicle especially when little or no experimental data are available or when costs prohibit doing experiments for determining these data. 相似文献
15.
Dynamic Response Analysis for Embedded Large-Cylinder Breakwaters Under Wave Excitation 总被引：4，自引：0，他引：4
1 .IntroductionThestaticmethodsarecommonlyusedinthestabilityanalysisofembeddedlarge cylinderbreak waters .Thestaticanalysismodelscanbedividedintotwocategories :simplifiedmodels (Zhouetal.,1 995;WangandZhu ,2 0 0 2 )andfiniteelementmodels (MengandWang ,1 999) .Thesimplifiedmodelsinheritthetraditionalengineeringexperiencesandareconvenienttouseinengineeringprac tice.However,itisdifficultforthesimplifiedmodelstodepictthegeometricandphysicalpropertiesofastructure soilsystemprecisely .Thefiniteel… 相似文献
16.
This paper is concerned with the very large, sudden pressures produced by water-wave impact on a vertical wall. Numerical and theoretical models are briefly described and we show that there are significant pressure gradients along an impermeable sea bed, away from the wall. This aspect of wave impact pressure has not previously been noted. The effects of such transient pressure gradients on bodies lying on the bed are examined in the light of pressure impulse theory. Our theoretical results indicate that bodies may be displaced by these pressure gradients when ordinary fluid drag is insufficient to move them. We discuss the impulse and the speed imparted to a rigid body lying within a region of pressure impulse which has constant horizontal gradient, and we show that the impulse is related to the body's volume, and shape. Analytic results are given for a hemi-ellipsoidal “boulder”, which is free to translate in a direction perpendicular to the wall. The analysis for the hemi-ellipsoid encompasses the special cases of a semi-circular cylinder and a semi-circular disc. The case of a circular cylinder which touches the bed is also discussed, and it is shown that there is a significant vertical impulse on the body in addition to the horizontal component of the impulse. 相似文献
17.
A three-dimensional model of a two-part underwater towed system is studied. In the model, the governing equations of cables are established based on the Ablow and Schechter method. The boundary conditions for the two-part underwater towed system are derived. The six-degrees-of-freedom equations of motion for submarine simulations are adopted to predict the hydrodynamic performance of a towed vehicle. The established governing equations for the system are then solved using a central finite difference method. In this paper several algorithms are used to solve this special form of finite difference equations. The results in this paper indicate that the two-part underwater towed system improves the dynamic behavior of the towed vehicle and is an easy way to decouple the towing ship motion from the towed vehicle. Because the model uses an implicit time integration, it is stable for large time steps and is an effective algorithm for simulation of a large-scale underwater towed system. 相似文献
18.
Unbonded flexible pipe is one of the important pieces of equipment in floating production systems for transport of oil and gas between floaters and subsea wells located in deep water. To assure safety over a long-term service period, analysis of fatigue behavior under alternative bending is a key requirement. An analytical model for prediction of bending behavior is essential for understanding the mechanism of the local stress distribution in the helical wires of the tension armor layers under alternative curvatures and rapid estimation of the service life of flexible pipes for designers in engineering practice. In this paper, seven analytical models available in the literature are selected and summarized. Although the experimental results reported in the literature are limited, a three-dimensional finite element model is developed for investigation of the seven models, and the validity and limitations of these models for different structural parameters of helical wire are discussed, i.e., the width-thickness ratio of the wire section and helical angle. The analytical model based on spring theory resulted in a satisfactory estimation of bending stress for most cases and is recommended as a tool for the basic design of the helical armor wire structures in flexible pipes. 相似文献
19.
Currently, most submerged bodies use the long-baseline acoustic position system (LBL) to identify the navigation position for submerging. A precise navigation position is always the target pursued by underwater technology. The conventional long-baseline acoustic position systems normally use Kalman filter correction to handle the problem of positional errors. This article proposes a new modification, which is based on the periodically measured actual navigation distance, and associated with the three-dimensional geometrical relations between the transponder on the seabed and the navigation distance. This new modification employs the iterative approximation to modify the errors of the measured navigation position from the conventional long-baseline acoustic position system. In order to verify the availability of the modified model by the essay, the study uses the navigation position for an underwater surveying submerged body as the study object. After the numerical simulation analysis, the result shows that the modification was presented by the article can only use very few iterations to precisely modify the errors of the measured navigation position from the conventional long-baseline acoustic position system, which is highly applicable for positioning in long-term and long-distance submersion. Moreover, the modification method proposed by the paper can also help submersion positioning for the underwater vehicle, as well as the military submerged body. 相似文献
20.
A fundamental study of pile–soil systems subjected to lateral loads in offshore deposit was conducted using experimental tests and numerical analysis. The emphasis was on the soil–pile rigidity of a laterally loaded pile in marine clay. Rigid- and flexible-pile analyses were conducted for comparison. A framework for determining the lateral load transfer curve (p–y curves) is proposed based on both field and laboratory model tests. A numerical analysis that takes into account the proposed p–y curves was performed for the pile flexibility parameters such as pile diameter, pile length, pile-bending stiffness, and the modulus of subgrade reaction. Based on the analysis, it is shown that the differences in bending moment and lateral displacement are more significant for flexible piles rather than rigid piles. It was found that the p–y curves influence the behavior of flexible piles more than rigid piles, thus the magnitude and distribution of the p–y curves are significantly important in flexible pile design. 相似文献