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1.
In this paper, we present a mathematical model including seakeeping and maneuvering characteristics to analyze the roll reduction for a ship traveling with the stabilizer fin in random waves. The self-tuning PID controller based on the neural network theory is applied to adjust optimal stabilizer fin angles to reduce the ship roll motion in waves. Two multilayer neural networks, including the system identification neural network (NN1) and the parameter self-tuning neural network (NN2), are adopted in the study. The present control technique can save the time for searching the optimal PID gains in any sea states. The simulation results show that the present developed self-tuning PID control scheme based on the neural network theory is indeed quite practical and sufficient for the ship roll reduction in the realistic sea. 相似文献
2.
This paper presents an on-line trained neural net work controller for ship track-keeping problems. Following a brief review of the ship track-keeping control development since the 1980's, an analysis of various existing backpropagation-based neural controllers is provided. We then propose a single-input multioutput (SIMO) neural control strategy for situations where the exact mathematical dynamics of the ship are not available. The aim of this study is to build an autonomous neural controller which uses rudder to regulate both the tracking error and heading error. During the whole control process, the proposed SIMO neural controller adapts itself on-line from a direct evaluation of the control accuracy, and hence the need for a “teacher” or an off-line training process can be removed. With a relatively modest amount of quantitative knowledge of the ship behavior, the design philosophy enables real time control of a nonlinear ship model under random wind disturbances and measurement noise. Three different track-keeping tasks have been simulated to demonstrate the effectiveness of the training method and the robust performance of the proposed neural control strategy 相似文献
3.
A four‐antenna GPS attitude determination system was used to estimate roll, pitch, and heading parameters of a 52‐meter surveying vessel in an operational marine environment. The least squares algorithm for platform attitude estimation using multiple baseline vector observables is presented. An efficient on‐the‐fly carrier phase ambiguity searching method is derived, which utilizes the Cholesky decomposition method and the known baseline constraints between the GPS antennas to construct the potential ambiguity sets on the sphere. The accuracy of the estimated attitude parameters from the GPS multi‐antenna system was assessed with an independent inertial navigation system (INS). Results from sea trials show that the proposed GPS multi‐antenna system and processing algorithms delivered a satisfactory performance under various ship maneuvers. The accuracy of GPS estimated ship attitude parameters is better than 0.06 degrees at an output rate of 10 Hz. Such a performance demonstrates a new alternative means to provide accurate, reliable, and cost‐effective ship attitude information for hydrographic applications. 相似文献
4.
A neural network based control system “Self-Organizing Neural-Net-Controller System: SONCS” has been developed as an adaptive control system for Autonomous Underwater Vehicles (AUVs). In this paper, an on-line adaptation method “Imaginary Training” is proposed to improve the time-consuming adaptation process of the original SONCS. The Imaginary Training can be realized by a parallel structure which enables the SONCS to adjust the controller network independently of actual operation of the controlled object. The SONCS is divided into two separate parts: the Real-World Part where the controlled object is operated according to the objective, and the Imaginary-World Part where the Imaginary Training is carried out. In order to adjust the controller network by the Imaginary Training, it is necessary to introduce a forward model network which can generate simulated state variables without involving actual data. A neural network “Identification Network” which has a specific structure to simulate the behavior of dynamical systems is proposed as the forward model network. The effectiveness of the Imaginary Training is demonstrated by applying to the heading keeping control of an AUV “Twin-Burger”. It is shown that the SONCS adjusts the controller network-through on-line processes in parallel with the actual operation 相似文献
5.
依据人工操舵的基本原理 ,提出了一种能适应船舶航行环境变化和自动获取船舶操纵运动特性知识的神经网络控制器。仿真结果表明 ,此神经网络控制器不仅能对系统进行有效的控制 ,而且可达到无超调、无波动的控制效果。此外 ,其操舵规律与人工操作时的最佳操舵规律一致 相似文献
6.
摘要：在海况环境下,进行船舶运动预测时。由于惯性传感器采集系统本身的电学特性,会产生偏移误差,严重影响一般预测方法的准确性。针对这一问题,在常规LSTM神经网络的基础上,设计改良了一种二元的LSTM网络架构。在船舶运动仿真平台上进行模拟船舶升沉运动实验,并通过惯性传感系统测量仿真平台实时积分位移进行计算验证。验证统计该网络预测结果峰差值均方差0.64%,均值均方差0.42%,峰值均方差0.57%,证实该网络较常规LSTM在船舶运动预测领域具有更好的针对性和适应性,更准确的还原预测实际的船舶运动轨迹。 相似文献
7.
An Ashtech GPS 3DF, a commercially available system for measuring ship's heading from an array of GPS antennas, was installed on RRS Discovery in August 1992. Data were collected during 8 days of ship trials, including periods in port and while on station or steaming. Headings from the GPS system have been compared with headings from the ship's gyrocompass, and residuals calculated. While in port, residuals had a standard deviation of 0.066°, suggesting satisfactory performance by both instruments. While at sea, time-averaged residuals varied with a range of nearly 3°, most of which is attributed to systematic errors in the ship's gyro. After correcting the gyro using 10-min averages of the GPS minus gyro headings, the residual GPS minus gyro differences had a standard deviation of 0.17°. This represents a likely limit on the use of GPS heading data to improve conventional gyro measurements. 相似文献
8.
单点系泊船舶在受到风、流等外力作用下通常会产生大幅周期性艏摇运动，称为“鱼尾运动”。剧烈的鱼尾运动可能会导致系泊系统的锚链承受过大的张力从而遭到破坏。为了充分认识单点系泊状态下养殖工船的鱼尾运动，针对一艘十万吨级单链式系泊养殖工船进行了数值分析及模型试验研究。首先，通过风洞模型试验测得养殖工船的风、流载荷系数，以此作为输入对风、流联合作用下养殖工船的动力响应进行了数值模拟分析；同时，开展水池模型试验验证了数值计算结果的准确性和可靠性；最后，通过数值计算研究了不同风速和流速下单链式系泊养殖工船鱼尾运动的特性和规律，为实际工程设计提供一定的参考。 相似文献
9.
减弱船磁效应对海洋地磁测量精度影响的方法研究 总被引：1，自引：0，他引：1
船磁效应一直是影响海洋地磁测量精度的一个重要因素。传统船磁模型只取磁方位角为变量,改正后测线数据存在系统差和船磁影响的起伏变化,给不断累积的地磁数据拼接带来困难。磁正西北和北东方向的测线网受船的感应磁性变化的影响最小,东西向测线之间船磁影响差异最小,而磁南北向测线之间正好相反,据此可从测线布设方案着手减弱船磁效应影响。完备的船磁模型可以兼顾考虑测线航向、地磁总场、磁倾角和拖缆长度的变化,通过不同拖缆长度的主、副测线网交点差平差或三点各两种不同拖缆长度的方位测量,实现地磁异常分离和完备船磁效应的改正。实例说明固定船磁,甚至负的垂直分量,会使船磁效应随纬度出现可观变化,需要完备船磁模型的解算和改正才能解决这个问题。 相似文献
10.
The propulsive efficiency maximization of contra-rotating azimuth propulsor (CRAP) at model scale is investigated through searching the optimal matching rotational speeds of the forward propeller (FP) and rear propeller (RP) of CRAP based on the potential-based panel method. The hydrodynamic performance of CRAP with changing rotational speeds (FP and RP may have different rotational speeds) are calculated. When the inflow velocity is certain, the cubic spline interpolation method is used to get the equal thrust points at which CRAP has the same thrust with the corresponding conventional propeller (CP). Then, the delivered powers at these equal thrust points are further obtained through cubic spline interpolation method. The rotational speeds of FP and RP at the equal thrust point corresponding to the minimal delivered power are the optimal matching rotational speeds of CRAP. The optimal matching calculations are carried out at different inflow velocities. The results of the optimal matching investigation show that CRAP has the lowest delivered powers when FP and RP have the optimal matching rotational speeds and that the energy saving level decreases with the increase of inflow velocity. The optimal matching rotational speed ratio decreases with the increase of inflow velocity. In general, the delivered powers of CRAP having optimal matching rotational speeds at different inflow velocities are obviously smaller than those of CP. 相似文献
11.
This study proposes a ship weather-routing algorithm based on the composite influence of multi-dynamic elements for determining the optimized ship routes. The three-dimensional modified isochrone (3DMI) method utilizing the recursive forward technique and floating grid system for the ship tracks is adopted. The great circle sailing (GCR) is considered as the reference route in the earth coordinate system. Illustrative optimized ship routes on the North Pacific Ocean have been determined and presented based on the realistic constraints, such as the presence of land boundaries, non-navigable sea, seaway influences, roll response as well as ship speed loss. The proposed calculation method is effective for optimizing results by adjusting the weighting factors in the objective functions. The merits of the proposed method can be summarized as: (1) the navigability of the route can be analyzed dynamically to acquire the optimal route; (2) adopting multi-dynamic elements as weighting factors has the benefits in energy efficiency, time-saving and minimum voyage distance; and (3) an ability to enhance speed performance and to incorporate safety concern in a dynamic environment. 相似文献
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13.
The paper reports on analytical case studies on the loop manoeuvre of an underwater towed cable-array system to give an insight into the tactical aspects of their naval applications. The analytical formulation and the solution procedure adopted for this three dimensional dynamic problem is also described. The case studies have been carried out for different loop radii, tow lengths, tow speeds and truncated loops. The resulting X,Y,Z co-ordinates of the towed cable-array and tow-point tensions have been computed. Based on these results, the tow-length to loop radii ratio, leading to cable-array system looping, has been found. The values of speed reduction and turning radius, causing dangerous relaxation in tow-point tension have been worked out. After exit from the loop, the timing required for realignment of the cable-array system with the ship's heading can be obtained from plots of the results. These timings help to plan ship manoeuvres to optimise reestablishment of stable listening conditions during underwater surveillance. 相似文献
14.
The maximum extent of ship spraying for a medium-sized fishing trawler (MFV) of Soviet type has been considered. A simple geometrical model for generating the spray due to ship-wave collisions has been applied to determine the maximum height of the spray source above the ship deck. The maximum height of the spray source has been assumed to depend on the ship speed relative to the moving waves and an empirical constant specific to a given type of ship. A unique field data set (Kuzniecov et al., 1971) of the height of the upper limit of ice accretion on the foremast of an MFV has been used to determine the value of the empirical constant for this vessel. For documented air-sea and ship motion parameters, the trajectories of droplets hitting the upper parts of the accretion on the foremast have been calculated using the equation of droplet motion for each reported icing event.The heights of the spray source computed by the trajectory method for each case of icing were compared with the heights of the spray source determined by a correlation involving the ship speed relative to the waves and the vertical extent of spray. The best fit was obtained for an empirical constant value of 0.535.The model performance was tested using an independent data set (Sharapov, 1971) on the spraying zone of an MFV. The tests showed that this model predicts the extent of the spraying zone over the ship with satisfactory accuracy and suggest that it should be incorporated into an integrated ship icing model.Finally, the model was run for several ship speeds, headings and wind speeds to examine the effect of these parameters on the maximum height of the spray hitting the ship's foremast. It was found that this height increases with wind speed and ship speed and is maximum for ship headings of 120–130°. 相似文献
15.
An adaptive output feedback controller based on neural network feedback-feedforward compensator (NNFFC) which drives a surface ship at high speed to track a desired trajectory is designed. The tracking problem of the surface ship at low speed has been widely investigated. However, the coupling interactions among the forces from each degree of freedom (DOF) have not been considered in general. Furthermore, the influence of the hydrodynamic damping is also simplified into a linear form or neglected. On the contrary, coupling interactions and the nonlinear characteristics of the hydrodynamic damping can never be neglected in high speed maneuvering situation. For these reasons, the influence of the nonlinear hydrodynamic damping on the tracking precision is considered in this paper. Since the hydrodynamic coefficients of the surface ship at high speed are very difficult to be accurately estimated as a prior, it will be compensated by NNFFC as an unknown part of the tracking dynamics system. The stability analysis will be given by the Lyapunov theory. It indicates that the proposed control scheme can guarantee that all the signals in the closed-loop system are uniformly ultimately bounded (UUB), and numerical simulations can illustrate the excellent tracking performance of the surface ship at high speed under the proposed control scheme. 相似文献
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17.
《Oceanic Engineering, IEEE Journal of》1979,4(2):52-59
Estimation of ship rotational motions induced by ocean waves plays a central role in many navigation and fire control applications. Inertial-type instruments are available which give good measurements of the attitude, but some form of signal processing is necessary to obtain angular rates or predict attitudes. Using optimal moving-average (or transversal) filters, we can obtain very good estimates of attitude rates as well as predictions of these values. Filter parameters can be changed adaptively to maintain good performance as the ship changes heading or velocity. The problem of designing these optimal filters is examined in detail and numerical results are given for a particular set of conditions. Two implementations of the adaptive filter are discussed. One is based on a recursive estimation of the process autocorrelations with the filter coefficients being recomputed at periodic intervals or whenever nonstationary conditions are detected. The second implementation is based on Widrow's LMS algorithm. Both alternatives for the adaptive filter implementation are quite reasonable in terms of their computational requirements. The steady-state performance analysis can be considered to be a lower bound on the errors incurred by an adaptive filter. 相似文献
18.
Tattersall J.M. King P.C. Mingrone J.A. Herstein P.D. 《Oceanic Engineering, IEEE Journal of》1992,17(3):227-238
An acoustic transient recording buoy (ATRB) developed to provide improved dynamic range and recording capacity in a reconfigurable manner is described. This digital system can acquire and record up to 16 h of broadband wide dynamic range (≈80 dB) acoustic data from eight hydrophones. A unique feature is the use of two inexpensive video cassette recorders to obtain up to 10 Gb of data storage capacity. The system is self-contained and capable of unattended bottom-moored operation. An experiment designed and conducted using a single ship and this system to obtain simultaneous measurements of sea surface forward scatter, propagation loss, and sea floor interaction is reported. Data obtained demonstrate the utility of this system for ocean acoustic experiments. Explosive charge source levels using direct path measurements agreed with previous measurements. Surface reflected data exhibited a frequency dependence attributed to sea surface swell and roughness 相似文献
19.
The ship routing problem can be known as a multi-objective problem. Since the operation strategy is influenced by ocean environments, e.g. wind, waves or ocean currents, it is therefore weather routed. In this study, the three-dimensional modified isochrone (3DMI) method utilizing the recursive forward technique and floating grid system for the ship tracks is applied to globally search for the optimum route. The proposed method considers two types of routing strategies, i.e. ETA (Estimated Time of Arrival) routing and FUEL (FUEL-saving) routing, with different constraints, such as land boundaries, significant wave heights, engine revolution speeds and roll responses. As a result, it is verified that the robustness of the proposed method appears to be a practical tool by adjusting the safety threshold for the trade-off of ship efficiency and economics. 相似文献
20.
Neural networks for wave forecasting 总被引：1，自引：0，他引：1
The physical process of generation of waves by wind is extremely complex, uncertain and not yet fully understood. Despite a variety of deterministic models presented to predict the heights and periods of waves from the characteristics of the generating wind, a large scope still exists to improve on the existing models or to provide alternatives to them. This paper explores the possibility of employing the relatively recent technique of neural networks for this purpose. A simple 3-layered feed forward type of network is developed to obtain the output of significant wave heights and average wave periods from the input of generating wind speeds. The network is trained with different algorithms and using three sets of data. The results show that an appropriately trained network could provide satisfactory results in open wider areas, in deep water and also when the sampling and prediction interval is large, such as a week. A proper choice of training patterns is found to be crucial in achieving adequate training. 相似文献