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1.
This paper proposes a saturated tracking controller for underactuated autonomous marine surface vehicles with limited torque. First, a second-order open-loop error dynamic model is developed in the actuated degrees of freedom to simplify the design procedure. Then, a saturated tracking controller is designed by utilizing generalized saturation functions to reduce the risk of actuator saturation. This, in turn, improves the transient performance of the control system. A multi-layer neural network and adaptive robust control techniques are also employed to preserve the controller robustness against unmodeled dynamics and environmental disturbances induced by waves and ocean currents. A Lyapunov stability analysis shows that all signals of the closed-loop system are bounded and tracking errors are semi-globally uniformly ultimately bounded. Finally, simulation results are provided for a hovercraft vehicle to illustrate the effectiveness of the proposed controller as a qualified candidate for real implementations in offshore applications. 相似文献
2.
Phase control may substantially increase the power absorption in point-absorber wave energy converters. This study deals with validation of dynamic models and latching control algorithms for an oscillating water column (OWC) inside a fixed vertical tube of small circular cross-section by small-scale testing. The paper describes experimental and numerical results for the system's dynamics, using simple and practical latching control techniques that do not require the prediction of waves or wave forces, and which will be relevant to any type of point-absorbing devices.In the experimental set-up, the upper end of the tube was equipped with an outlet duct and a shut-off valve, which could be controlled to give a latching of the inner free surface movement. The pressure drop through the open valve is used as a simplified measure of the energy extraction. The control was realized by using the real-time measurement signals for the inner and outer surface displacement.A mathematical model of the system was established and applied in numerical simulation. In the case the OWC's diameter is much smaller than the wavelength and the wave amplitude much smaller than the draft, the free surface movement inside the tube can be described as an oscillating weightless piston. For this hydrodynamic problem an analytical solution is known. In addition, the mathematical model includes the effects of viscous flow losses, the air compressibility inside the chamber and the pressure drop across the valve. Experimental results were used to calibrate some of the model parameters, and the total model was formulated as a coupled system of six non-linear, first-order differential equations. Time-domain integration was used to simulate the system in order to test the control strategies and compare with experimental results. 相似文献
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Emanuele Di Lorenzo Andrew M. Moore Hernan G. Arango Bruce D. Cornuelle Arthur J. Miller Brian Powell Boon S. Chua Andrew F. Bennett 《Ocean Modelling》2007,16(3-4):160-187
We describe the development and preliminary application of the inverse Regional Ocean Modeling System (ROMS), a four dimensional variational (4DVAR) data assimilation system for high-resolution basin-wide and coastal oceanic flows. Inverse ROMS makes use of the recently developed perturbation tangent linear (TL), representer tangent linear (RP) and adjoint (AD) models to implement an indirect representer-based generalized inverse modeling system. This modeling framework is modular. The TL, RP and AD models are used as stand-alone sub-models within the Inverse Ocean Modeling (IOM) system described in [Chua, B.S., Bennett, A.F., 2001. An inverse ocean modeling system. Ocean Modell. 3, 137–165.]. The system allows the assimilation of a wide range of observation types and uses an iterative algorithm to solve nonlinear assimilation problems. The assimilation is performed either under the perfect model assumption (strong constraint) or by also allowing for errors in the model dynamics (weak constraints). For the weak constraint case the TL and RP models are modified to include additional forcing terms on the right hand side of the model equations. These terms are needed to account for errors in the model dynamics.Inverse ROMS is tested in a realistic 3D baroclinic upwelling system with complex bottom topography, characterized by strong mesoscale eddy variability. We assimilate synthetic data for upper ocean (0–450 m) temperatures and currents over a period of 10 days using both a high resolution and a spatially and temporally aliased sampling array. During the assimilation period the flow field undergoes substantial changes from the initial state. This allows the inverse solution to extract the dynamically active information from the synthetic observations and improve the trajectory of the model state beyond the assimilation window. Both the strong and weak constraint assimilation experiments show forecast skill greater than persistence and climatology during the 10–20 days after the last observation is assimilated.Further investigation in the functional form of the model error covariance and in the use of the representer tangent linear model may lead to improvement in the forecast skill. 相似文献
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Methods of studying the dynamics of wave disturbances in st;ratified shear flows of an ideal incompressible fluid are considered. The equations governing the motions of interest represent Hamilton equations and are derived by writing the velocity field in terms of Clebsch potentials. Equations written in terms of semi-Lagrangian variables are integrodifferential equations, which make it possible to consider both continuous and discontinuous solutions, as well as the cases where the parameters of the undisturbed medium are step functions. Two dynamic systems are presented. The first, canonical system of equations is most suitable for describing gravity waves in a shear flow in the case where the undisturbed medium is characterized by sharp gradients of density and flow velocity. The simplest model in which disturbances obey this system of equations is the well-known Kelvin-Helmholtz model. The second dynamic system describes, in particular, gravity-shear waves and, in the case of a homogeneous medium, shear waves in a two-dimensional flow. This system is most suitable for studying the dynamics of disturbances in models with sharp gradients of vorticity. On the basis of the approach developed in this study, the problem of the dynamics of disturbances in a flow with a continuous distribution of vorticity in a finite-thickness layer is solved. If the thickness of this layer is small compared to the characteristic wavelength and the gradient of the undisturbed vorticity in this layer is large, the solution has the form of a mode whose frequency is close to the frequency of the shear wave on a vorticity jump that would be obtained by letting the layer’s thickness approach zero. The results obtained allow, in particular, the estimation of the range of validity of finite-layer approximations for models with smooth profiles of flow and density. In addition, these results can be interpreted as the basis for the development of nonlinear aspects of the theory of hydrodynamic stability. 相似文献
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A low‐order climate model is studied which combines the Lorenz‐84 model for the atmosphere on a fast time scale and a box model for the ocean on a slow time scale. In this climate model, the ocean is forced strongly by the atmosphere. The feedback to the atmosphere is weak. The behaviour of the model is studied as a function of the feedback parameters. We find regions in parameter space with dominant atmospheric dynamics, i.e., a passive ocean, as well as regions with an active ocean, where the oceanic feedback is essential for the qualitative dynamics. The ocean is passive if the coupled system is fully chaotic. This is illustrated by comparing the Kaplan–Yorke dimension and the correlation dimension of the chaotic attractor to the values found in the uncoupled Lorenz‐84 model. The active ocean behaviour occurs at parameter values between fully chaotic and stable periodic motion. Here, intermittency is observed. By means of bifurcation analysis of periodic orbits, the intermittent behaviour, and the rôle played by the ocean model, is clarified. A comparison of power spectra in the active ocean regime and the passive ocean regime clearly shows an increase of energy in the low frequency modes of the atmospheric variables. The results are discussed in terms of itinerancy and quasi‐stationary states observed in realistic atmosphere and climate models. 相似文献
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A viscoelastic-plastic constitutive model with Mohr-Coulomb yielding criterion for sea ice dynamics 总被引：2，自引：0，他引：2
A new viscoelastic-plastic （VEP） constitutive model for sea ice dynamics was developed based on continuum mechanics. This model consists of four components： Kelvin-Vogit viscoelastic model, Mohr-Coulomb yielding criterion, associated normality flow rule for plastic rehololgy, and hydrostatic pressure. The numerical simulations for ice motion in an idealized rectangular basin were made using smoothed particle hydrodynamics （SPH） method, and compared with the analytical solution as well as those based on the modified viscous plastic（VP） model and static ice jam theory. These simulations show that the new VEP model can simulate ice dynamics accurately. The new constitutive model was further applied to simulate ice dynamics of the Bohai Sea and compared with the traditional VP, and modified VP models. The results of the VEP model are compared better with the satellite remote images, and the simulated ice conditions in the JZ20-2 oil platform area were more reasonable. 相似文献
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针对水深6.0 km深海采矿装备,研究其转场工况平台—水下系统耦合动力响应特性。建立深海采矿平台—输浆管—中继站一体化耦合动力模型,其中采用有限元方法离散输浆管,采用势流理论计算平台水动力,基于Kalman滤波对动力定位系统进行参数整定,优化动力定位系统推力。考虑动力定位系统,计算水动力和采矿平台—输浆管—中继站的频域响应和平台—水下系统耦合时域运动响应,计算得到了平台时域运动响应、水下系统动力响应及动力定位系统推力响应。结果表明：建立的一体化耦合动力分析模型是可行的,可以有效预报平台及水下系统响应;转场0°浪向动力定位系统可以有效控制平台运动;中继站运动较小,输浆管轴力较大,建议将输浆管的浮力材料移动到流速较小的水下范围,可降低拖曳力,有利于输浆管的强度性能。 相似文献
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Healey A.J. Rock S.M. Cody S. Miles D. Brown J.P. 《Oceanic Engineering, IEEE Journal of》1995,20(4):354-361
This paper proposes a novel approach to modeling the four quadrant dynamic response of thrusters as used for the motion control of ROV and AUV underwater vehicles. The significance is that these vehicles are small in size and respond quickly to commands. Precision in motion control will require further understanding of thruster performance than is currently available. The model includes a four quadrant mapping of the propeller blades lift and drag forces and is coupled with motor and fluid system dynamics. A series of experiments is described for both long and short period triangular, as well as square wave inputs. The model is compared favorably with experimental data for a variety of differing conditions and predicts that force overshoots are observed under conditions of rapid command changes. Use of the model will improve the control of dynamic thrust on these vehicles 相似文献
11.
Yi Rui 《Marine Geodesy》2019,42(3):246-262
Submarine debris flows have a significant impact on offshore and coastal facilities. The unique characteristics of submarine debris flows involve large mass movements and long travel distances over very gentle slopes. To improve our insight and knowledge of the basic mechanism behind submarine debris flows, an analytical model was derived for the mobility of submarine debris flows. This model takes into account the mass change of debris flows induced by deposition, stagnation pressure, and the topography of the depositional area. One case study on the Palos Verdes debris flow proves its ability to predict the run-out distance of a submarine debris flow to a reasonable level of accuracy. On the gentle slopes, the submarine debris flow progressively loses mass due to deposition, which in turn influences the flow velocity. In addition, the results show that the slope angle and spreading angle of the debris depositional zone play important roles in the sliding process. 相似文献
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This paper presents numerical simulations of viscous flow past a submarine model in steady turn by solving the Reynolds-Averaged Navier?Stokes Equations (RANSE) for incompressible, steady flows. The rotating coordinate system was adopted to deal with the rotation problem. The Coriolis force and centrifugal force due to the computation in a body-fixed rotating frame of reference were treated explicitly and added to momentum equations as source terms. Furthermore, velocities of entrances were coded to give the correct magnitude and direction needed. Two turbulence closure models (TCMs), the RNG model with wall functions and curvature correction and the Shear Stress Transport (SST) model without the use of wall functions, but with curvature correction and low-Re correction were introduced, respectively. Take DARPA SUBOFF model as the test case, a series of drift angle varying between 0° and 16° at a Reynolds number of 6.53×106 undergoing rotating arm test simulations were conducted. The computed forces and moment as a function of drift angle during the steady turn are mostly in close agreement with available experimental data. Though the difference between the pressure coefficients around the hull form was observed, they always show the same trend. It was demonstrated that using sufficiently fine grids and advanced turbulence models will lead to accurate prediction of the flow field as well as the forces and moments on the hull. 相似文献
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This study contributes to solving the problem of how to derive a simplistic model feasible for describing dynamics of different types of ships for maneuvering simulation employed to study maritime traffic and furthermore to provide ship models for simulation-based engineering test-beds. The problem is first addressed with the modification and simplification of a complicated and nonlinearly coupling vectorial representation in 6 degrees of freedom (DOF) to a 3 DOF model in a simple form for simultaneously capturing surge motions and steering motions based on several pieces of reasonable assumptions. The created simple dynamic model is aiming to be useful for different types of ships only with minor modifications on the experiment setup. Another issue concerning the proposed problem is the estimation of parameters in the model through a suitable technique, which is investigated by using the system identification in combination with full-scale ship trail tests, e.g., standard zigzag maneuvers. To improve the global optimization ability of support vector regression algorithm (SVR) based identification method, the artificial bee colony algorithm (ABC) presenting superior optimization performance with the advantage of few control parameters is used to optimize and assign the particular settings for structural parameters of SVR. Afterward, the simulation study on identifying a simplified dynamic model for a large container ship verifies the effectiveness of the optimized identification method at the same time inspires special considerations on further simplification of the initially simplified dynamic model. Finally, the further simplified dynamic model is validated through not only the simulation study on a container ship but also the experimental study on an unmanned surface vessel so-called I-Nav-II vessel. Either simulation study results or experimental study results demonstrate a valid model in a simple form for describing the dynamics of different types’ ships and also validate the performance of the proposed parameter estimation method. 相似文献
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水下井口的疲劳完整性是海洋油气田长期安全开采的前提。工业界往往采用贴应变片直接测量水下井口应变来计算弯矩和疲劳损伤,但水下井口应变片粘贴困难且不能长时间连续工作。采用对水下井口监测方法,基于隔水管—防喷器组—水下井口的运动和力学特性,考虑防喷器组惯性力矩建立系统耦合动力学方程,最终形成基于监测数据的水下井口循环弯矩计算方法。以南海某深水水下井口为例,建立隔水管—防喷器组—水下井口系统有限元模型并进行动态分析,提取隔水管底部张力、转角、防喷器组加速度及转角等参数,代入所建立的系统耦合动力学模型,得到水下井口弯矩与有限元计算结果吻合良好。研究表明只需通过在线监测获得所需的输入数据,无需监测水下井口应变即可获取水下井口循环弯矩。建立的系统耦合动力学模型可为水下井口疲劳完整性评估提供理论依据。 相似文献
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为了改进温带气旋数值预报的精度,基于WRF(Weather Research and Forecasting)模式,利用GSI(Gridpoint Statistical Interpolation)-EnKF(Ensemble Kalman Filter)系统,设计了一套温带气旋集合预报方法,其具有的2种选择方案通过滤掉质量较差的集合成员从而将集合成员数目控制在10以内,达到了大幅降低集合预报计算量的目的。针对2020年7月一次影响黄海的温带气旋个例,开展了一系列决定性预报与集合预报的数值对比试验。分析结果如下:1)不采取任何择优方案的集合预报效果就已经明显优于决定性预报,而采取择优方案使得预报效果进一步得到提升;2)预报初始时刻择优(直接择优方案)的集合预报效果远不如短时积分3 h后才进行择优(积分择优方案)的预报效果; 3)积分择优方案优于直接择优方案的原因是,初始场集合体中的成员经过短时积分后其误差得以放大而使得择优更加准确。多个例的应用结果进一步表明,本文提出的积分择优方案温带气旋集合预报方法具有较好的业务预报应用前景。 相似文献
16.
《Deep Sea Research Part I: Oceanographic Research Papers》2006,53(9):1483-1516
We study the dynamics of the planktonic ecosystem in the coastal upwelling zone within the California Current System using a three-dimensional (3-D), eddy-resolving circulation model coupled to an ecosystem/biogeochemistry model. The physical model is based on the Regional Oceanic Modeling System (ROMS), configured at a resolution of 15 km for a domain covering the entire US West Coast, with an embedded child grid covering the central California upwelling region at a resolution of 5 km. The model is forced with monthly mean boundary conditions at the open lateral boundaries as well as at the surface. The ecological/biogeochemical model is nitrogen based, includes single classes for phytoplankton and zooplankton, and considers two detrital pools with different sinking speeds. The model also explicitly simulates a variable chlorophyll-to-carbon ratio. Comparisons of model results with either remote sensing observations (AVHRR, SeaWiFS) or in-situ measurements from the CalCOFI program indicate that our model is capable of replicating many of the large-scale, time-averaged features of the coastal upwelling system. An exception is the underestimation of the chlorophyll levels in the northern part of the domain, perhaps because of the lack of short-term variations in the atmospheric forcing. Another shortcoming is that the modeled thermocline is too diffuse, and that the upward slope of the isolines toward the coast is too small. Detailed time-series comparisons with observations from Monterey Bay reveal similar agreements and discrepancies. We attribute the good agreement between the modeled and observed ecological properties in large part to the accuracy of the physical fields. In turn, many of the discrepancies can be traced back to our use of monthly mean forcing. Analysis of the ecosystem structure and dynamics reveal that the magnitude and pattern of phytoplankton biomass in the nearshore region are determined largely by the balance of growth and zooplankton grazing, while in the offshore region, growth is balanced by mortality. The latter appears to be inconsistent with in situ observations and is a result of our consideration of only one zooplankton size class (mesozooplankton), neglecting the importance of microzooplankton grazing in the offshore region. A comparison of the allocation of nitrogen into the different pools of the ecosystem in the 3-D results with those obtained from a box model configuration of the same ecosystem model reveals that only a few components of the ecosystem reach a local steady-state, i.e. where biological sources and sinks balance each other. The balances for the majority of the components are achieved by local biological source and sink terms balancing the net physical divergence, confirming the importance of the 3-D nature of circulation and mixing in a coastal upwelling system. 相似文献
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A new motion coordination algorithm for an autonomous underwater vehicle-manipulator system (UVMS) is proposed. This algorithm generates the desired trajectories for both the vehicle and the manipulator in such a way that the total hydrodynamic drag on the system is minimized. Resolution of kinematic redundancy of the system is performed at the acceleration level so that this algorithm can be incorporated into the system dynamics. The dynamics of the UVMS are modeled using a quasi-Lagrange approach. A state-space formulation of the system along with a model-based controller design for trajectory-following tasks that includes thruster dynamics is also presented. The computer simulation results demonstrate the effectiveness of this proposed method in reducing the drag on the system 相似文献
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Yoann Le Bars Florent Lyard Catherine Jeandel Leonardo Dardengo 《Ocean Modelling》2010,31(3-4):132-149
The AMANDES project aims to study transports from the Andean mountains to the Atlantic Ocean through the Amazon system. This requires realistic estuarine modelling in this area strongly forced by tides and river discharge. As none of the existing models for this region would fit the actual needs of the project, a specific new generation model has been implemented.The model is based on the hydrodynamic finite element model T-UGOm. In a first step, we limit our investigations to tidal dynamics. As the Amazon estuary is a very shallow macro-tidal area, it is necessary to improve the available bathymetries and to develop a precise bottom friction parametrisation.In this paper, we discuss the implementation of a high resolution regional model. This allows us to develop a precise and accurate tidal model: for instance, the overall root mean square error on complex differences is reduced from 54 cm in a standard model to 27 cm in our best model. Such precise and accurate tidal modelling is a prerequisite for modelling particle transport. 相似文献