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《Oceanic Engineering, IEEE Journal of》2009,34(4):548-558
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A submerged body that moves near a free surface needs to keep its attitude and position to accomplish its missions, which are required to validate the performance of a designed controller before sea trial. Hydrodynamic maneuvering coefficients are generally obtained by experiments or computational fluid dynamics, but these coefficients suffer from uncertainty. Environmental loads such as wave excitation, current, and suction forces act on the submerged body when it moves near the free surface. Therefore, a controller for the submerged body should be robust to parameter uncertainty and environmental loads. In this paper, six-degree-of-freedom equations of motion for the submerged body are constructed. An adaptive control method based on the neural network and proportional–integral–derivative controller is used for the depth controller. Simulations are performed under various depth and environmental conditions, and the results show the effectiveness of the designed controller. 相似文献
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针对半潜式平台的立柱群和沉箱群,设计了两套独立的载荷测量系统,利用大型重力式密度分层水槽,在不同来波方向下对孤立波中半潜式平台载荷进行了系列模型试验。研究表明,对平台立柱部分,其内孤立波载荷可以用Morison公式进行计算,基于试验结果建立了Morison公式中其拖曳力系数以及惯性力系数的经验公式;对于半潜式平台的沉箱部分,当来波方向与其中纵剖面不平行时,其水平内孤立波载荷同样可以使用Morison公式进行计算,并建立了Morison公式中其拖曳力系数以及惯性力系数的经验公式;当来波方向与半潜式平台中纵剖面平行时,沉箱群的水平内孤立波载荷可以采用Froude-Krylov公式进行计算;同时,在不同来波方向下沉箱群的垂向载荷同样可以采用Froude-Krylov公式进行计算。 相似文献
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This paper develops a nonlinear mathematical model to simulate the dynamic motion behavior of the barge equipped with the portable outboard Dynamic Positioning (DP) system in short-crested waves. The self-tuning Proportional-Derivative (PD) controller based on the neural network algorithm is applied to control the thrusters for optimal adjustment of the barge position in waves. In addition to the wave, the current, the wind and the nonlinear drift force are also considered in the calculations. The time domain simulations for the six-degree-of-freedom motions of the barge with the DP system are solved by the 4th order Runge-Kutta method which can compromise the efficiency and the accuracy of the simulations. The technique of the portable alternative DP system developed here can serve as a practical tool to assist those ships without being equipped with the DP facility while the dynamic positioning missions are needed. 相似文献
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The large roll motion of ships sailing in the seaway is undesirable because it may lead to the seasickness of crew and unsafety of vessels and cargoes, thus it needs to be reduced. The aim of this study is to design a rudder roll stabilization system based on Radial Basis Function Neural Network (RBFNN) control algorithm for ship advancing in the seaway only through rudder actions. In the proposed stabilization system, the course keeping controller and the roll damping controller were accomplished by utilizing modified Unscented Kalman Filter (UKF) training algorithm, and implemented in parallel to maintain the orientation and reduce roll motion simultaneously. The nonlinear mathematical model, which includes manoeuvring characteristics and wave disturbances, was adopted to analyse ship’s responses. Various sailing states and the external wave disturbances were considered to validate the performance and robustness of the proposed roll stabilizer. The results indicate that the designed control system performs better than the Back Propagation (BP) neural networks based control system and conventional Proportional-Derivative (PD) based control system in terms of reducing roll motion for ship in waves. 相似文献
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A real time kinematic (RTK), GPS-based, track-keeping control of a small boat is discussed in this paper. The internal model control (IMC) method is adopted in the autopilot design and the controller is recast in the PID controller format that is characterized by its simple structure and relative ease of implementation. The track-keeping mission is achieved through a sequence of course-changing maneuvers and the reference heading is computed with the line-of-sight (LOS) guidance law. Path planning based on Bezier curves to achieve obstacle avoidance is investigated. First, computer simulations are carried out to find the feasible controller design parameter that achieves satisfactory simulation results. Then the feasible controller design parameter is applied in the small-boat-based experiments to demonstrate the practical use of the proposed autopilot design method. 相似文献
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A new control scheme for robust trajectory control based on direct estimation of system dynamics is proposed for underwater vehicles. The proposed controller can work satisfactorily under heavy uncertainty that is commonly encountered in the case of underwater vehicle control. The dynamics of the plant are approximately canceled through the feedback of delayed accelerations and control inputs. Knowledge of the bounds on uncertain terms is not required. It is shown that only the rigid body inertia matrix is sufficient to design the controller. The control law is conceptually simple and computationally easy to implement. The effectiveness of the controller is demonstrated through simulations and implementation issues are discussed. 相似文献
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Sloshing is an interfacial-flow phenomenon which brings two challenges on how to locate the position of the interface and avoid the unphysical motion of the interface. In order to locate the the position of the interface, a new geometric Volume-of-Fluid (VOF) method called isoAdvector is adopted to pursue a sharp interface. Aiming to make the isoAdvector method compatible with the dynamic mesh adopted to handle the tank motion, the motion-flux correction is introduced, and a moving-velocity correction for face-interface intersection line (FIIL) is proposed. An approximation formula is adopted to effectively reconstruct the moving-velocity field of the meshes at each cell center based on the motion fluxes on each cell face. In order to avoid the unphysical motion of the interface due to the excessive turbulence level in the transition region at the interface, the buoyancy-modified k − ω SST model is adopted. The numerical results of wave elevations and forces are compared with the experiments. The comparisons suggest that (i) the moving-velocity correction for FIIL is important to update the volume fraction; (ii) the modified isoAdvector method can capture the the position of the interface more accurately than the algebraic VOF method; (iii) the unphysical motion of the interface can be avoided by using the buoyancy-modified k − ω SST model in long-time simulations. In addition, a new post-processing approach is proposed to evaluate the interface thickness. The decrease of interface thickness improves the accuracies of wave elevations by using the modified isoAdvector method. The adoption of both the modified isoAdvector method and the buoyancy-modified k − ω SST model improves the computational accuracies of wave elevations and hydrodynamic loads in long-time simulations. 相似文献
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波浪破碎是海洋中最常见的现象之一,其能够对海洋中的结构物产生巨大的波浪力作用。本文在大比尺波浪水槽通过聚焦波的方法生成了极端波浪和不同破碎阶段的破碎波浪,并对其冲击桩柱过程中的点压力进行了测量,进而采用连续小波变换的方法,对桩柱上点压力的分布及大小进行了细致分析。结果表明,多次重复试验下,相比非破碎极端波浪,破碎极端波浪产生的点压力离散性更强;波浪破碎程度越大,测点位置越靠近波峰,则点压力离散程度越大;破碎波的最大点压力出现在1.2倍的最大波面附近,且其大小可达3倍的最大静水压力;基于点压力小波谱,不同破碎阶段破碎波产生冲击作用不同,对于波浪作用桩柱前波浪已经发生破碎的情况,其冲击区域更大,点压力分布更复杂;而对于桩面破碎的情况,其造成的波浪总力更大。 相似文献
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In this paper, a hierarchical control framework with relevant algorithms is proposed to achieve autonomous navigation for an underactuated unmanned surface vehicle (USV) swarm. In order to implement automatic target tracking, obstacle avoidance and avoid collisions between group members, the control framework is divided into three layers based on task assignments: flocking strategy design, motion planning and control input design. The flocking strategy design transmits some basic orders to swarm members. Motion planning applies the potential function method and then improves it; thus, the issue of autonomous control is transformed into one of designing the velocity vector. In the last layer, the control inputs (surge force and yaw moment) are designed using the sliding mode method, and the problem of underactuation is handled synchronously. The proposed closed-loop controller is shown to be semi-asymptotically stable by applying Lyapunov stability theory, and the effectiveness of the proposed methodology is demonstrated via numeric simulations of a homogeneous USV swarm. 相似文献
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Experimental Investigation of Irregular Wave Uplift Force on Deck of Exposed High-Pile Jetties 总被引：1，自引：0，他引：1
A laboratory setup was developed to investigate irregular wave uplift loads on exposed high-pile jetties.It is shown that the dimensionless uplift load increases to the maximum with an increasing relative clearance and then decreases.The relative clearance corresponding to the peak force is linked to a range from 0.4 to 0.8.When the relative clearance exceeds a certain value,the wave can not reach the underside of the deck and the force becomes zero.Distinct trends of dimensionless force with a relative width of deck show that the force tends to decrease as the relative deck width increases,and then the decrease slows down after the relative deck width increases or decreases to a certain value.The pressure distribution length associated with the maximum uplift force is equivalent to the wave contact width x.When x is larger than the width of deck B,it is taken as B.The statistical distribution of loads obeys the Weibull distribution.The results from the analyses of the real data suggest a new dimensionless prediction model on wave-in-deck uplift loads and the conversion ratio between wave loads at different exceedance probabilities.A comparison is made between the new prediction model and the existing widely used three prediction models.These results are used as useful references for structural design of the jetty. 相似文献
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An increasing number of experiments are being conducted to study the design and performance of wave energy converters. Often in these tests, a real-time realization of prospective control algorithms is applied in order to assess and optimize energy absorption as well as other factors. This paper details the design and execution of an experiment for evaluating the capability of a model-scale WEC to execute basic control algorithms. Model-scale hardware, system, and experimental design are considered, with a focus on providing an experimental setup capable of meeting the dynamic requirements of a control system. To more efficiently execute such tests, a dry bench testing method is proposed and utilized to allow for controller tuning and to give an initial assessment of controller performance; this is followed by wave tank testing. The trends from the dry bench test and wave tank test results show good agreement with theory and confirm the ability of a relatively simple feedback controller to substantially improve energy absorption. Additionally, the dry bench testing approach is shown to be an effective and efficient means of designing and testing both controllers and actuator systems for wave energy converters. 相似文献
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This paper provides an experimental verification of the new wave maker theory outlined by Spinneken and Swan [2009. Second-order wave maker theory using forcefeedback control. Part I. A new theory for regular wave generation. Ocean Engineering, in press, doi:10.1016/j.oceaneng.2009.01.019]. This theory concerns the generation of regular waves by a flap-type wave maker using force-feedback control, providing the first quantitative evidence of the inherent advantages of this latter approach. When the wave maker is controlled by a first-order force command signal, comparisons between the theory and experimental observations confirm two key points: (i) The first-order behaviour is crucial for the absorption characteristics of the machine. (ii) The second-order behaviour leads to a spurious, or unwanted, freely propagating second harmonic that is substantially smaller in amplitude when compared to an identical wave paddle operating with first-order position control. Both aspects of this work, effective absorption and reduced second-order spurious wave generation, are investigated over a broad range of wave frequencies and shown to be widely applicable. Furthermore, the theory also provides a force command signal correct to second order. This is introduced in a separate set of experiments and shown to provide further improvement in the quality of the wave generation. 相似文献
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《Coastal Engineering》2006,53(4):363-379
Low crested structures for beach defence purposes are frequently configured in the form of cells. This paper investigates the hydrodynamic and morphological response of such defence schemes by means of laboratory experiments and numerical simulations.Experiments were carried out at the large mobile-bed basin of the “Laboratorio di Idraulica Costiera” of the “Politecnico di Bari”, IT. Tests peculiarity is the simultaneous simulation of three different types of lateral confinement: a channel, representative of an indefinitely long structure, and two areas with narrow and wide gaps, representative of a common scheme and of an almost isolated structure respectively. Submerged, zero freeboard and emerged conditions were tested. A typical storm of the Northern Adriatic sea was reproduced by 6 wave attacks.Water level and currents were measured in front and behind the structures, at gaps and roundheads. Results, focusing on rip current intensities and piling-up, are presented and discussed. An extensive plan view of wave intensities and flow patterns inside the basin is provided through numerical simulations with MIKE 21 numerical suite.The sand bed was surveyed along 30 profiles covering the narrow gap area and the isolated structure roundheads. For the submerged conditions tests, 15 of these profiles and the shoreline position were monitored after each step of the simulated storm.Average and maximum values of local erosion at the structure toe are presented. Time evolution of erosion at gaps is related to the main hydrodynamic variables through Bijker sediment transport formula. Evaluation of volume changes in the protected area shows that sand is in average trapped behind the barriers, being transported offshore from gaps and returning inshore over the crest. The observed and reconstructed transport mechanism is a combination of bed load and suspended transport, the latter being slightly more important.Bed level changes are well predicted by morphodynamic simulations performed with MIKE 21 CAMS. 相似文献
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Multiple-Step Predictive Control for Offshore Structures 总被引：13，自引：0，他引：13
—Ocean wave propagation is slow,visible and measurable,so a wave theory can be used to approxi-mately predict the imminnent wave force on an offshore structure based on measured,real-time wave elevation nearthe structure.This predictability suggests the development of a more efficient algorithm,than those that have beendeveloped for structures under wind and seismic loads,for the active vibration control of offshore structures.Thepresent study delveops a mutiple-step predictive optimal control(MPOC)algorithm that accounts for multiple-step external loading in the determibation of optimal control forces.The control efficiency of the newly developedMPOC algorithm has been investigated under both regular(single-frequency)and irregular(multiple-frequency)wave loads,and compared with that of two other well-known optimal control algorithms:classical linear optimalcontrol(CLOC)and instantaneou optimal control(IOC). 相似文献
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This paper investigates the intact and damage survivability of a floating–moored Oscillating Water Column (OWC) device using physical model experiments and Computational Fluid Dynamics (CFD) simulations. Different extreme wave conditions have been tested using irregular and regular wave conditions. The device was moored to the tank floor via four vertical taut lines and the effect of the mooring line pre–tension on the device response was studied. It was found that the instantaneous position of the floating device was a key factor in the survivability analysis such that a certain irregular wave train that might not include the largest wave could induce the maximum response. Reducing the pre–tension minimized the maximum surge, but significantly increased the maximum tension due to mooring slack events causing snatch loads. A design regular wave with a period equal to the peak period and a height of 1.9–2.0 times the significant wave height could reasonably predict the same maximum line tension as the irregular sea state, but a smaller wave height was required to achieve the maximum surge. A single failure in the mooring system increased the maximum tension by 1.55 times the intact tension. For a damaged mooring system, using the same design regular wave condition derived from the survivability analysis with an intact mooring system could result in overestimating the maximum tension by more than 20% in comparison to the tension from the irregular sea state, but a smaller regular wave height or a different regular wave condition representing another sea state could lead to the same maximum tension. This highlighted the importance of investigating survival conditions with a damaged mooring system instead of simply using the same conditions derived for the intact mooring system. 相似文献
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海上浮体动力定位外力计算 总被引：5，自引：1，他引：4
动力定位系统（dynamic positioning system）是一种闭环自动控制系统,采用推力器来抵抗风、浪、流等作用在浮体上的境力,使其保持在所要求的位置上。船舶的风和流作用力由经验公式求得,波浪力主要考虑二阶漂移力,由三维势流理论的直接积分法求得。通过模拟仿真,表明其结果能够用于船舶动力定位系统研究。 相似文献
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Numerical simulations are carried out for wave action on a submerged horizontal circular cylinder by means of a viscous fluid model, and it is focused on the examination of the discrepancies between the viscous fluid results and the potential flow solutions. It is found that the lift force resulted from rotational flow on the circular cylinder is always in anti-phase with the inertia force and induces the discrepancies between the results. The influence factors on the magnitude of the lift force, especially the correlation between the stagnation-point position and the wave amplitude, and the effect of the vortex shedding are investigated by further examination on the flow fields around the cylinder. The viscous numerical calculations at different wave frequencies showed that the wave frequency has also significant influence on the wave forces. Under higher frequency and larger amplitude wave action, vortex shedding from the circular cylinder will appear and influence the wave forces on the cylinder substantially. 相似文献