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1.
《中国海洋大学学报(英文版)》2015,(4)
A dynamically positioned vessel, by the International Maritime Organization(IMO) and the certifying class societies(DNV, ABS, LR, etc.), is defined as a vessel that maintains its position and heading(fixed location or pre-determined track) exclusively by means of active thrusters. The development of control technology promotes the upgrading of dynamic positioning(DP) systems. Today there are two different DP systems solutions available on the market: DP system based on PID regulator and that based on model-based control. Both systems have limited disturbance rejection capability due to their design principle. In this paper, a new DP system solution is proposed based on Active Disturbance Rejection Control(ADRC) technology. This technology is composed of Tracking-Differentiator(TD), Extended State Observer(ESO) and Nonlinear Feedback Combination. On one hand, both TD and ESO can act as filters and can be used in place of conventional filters; on the other hand, the total disturbance of the system can be estimated and compensated by ESO, which therefore enhances the system's disturbance rejection capability. This technology's advantages over other methods lie in two aspects: 1) This method itself can not only achieve control objectives but also filter noisy measurements without other specialized filters; 2) This method offers a new useful approach to suppress the ocean disturbance. The simulation results demonstrate the effectiveness of the proposed method. 相似文献
2.
This paper presents a study on the motion response of a tension-leg platform (TLP) under first- and second-order wave forces, including the mean-drift force, difference and sum-frequency forces. The second-order wave force is calculated using the full-field quadratic transfer function (QTF). The coupled effect of the horizontal motions, such as surge, sway and yaw motions, and the set-down motion are taken into consideration by the nonlinear restoring matrix. The time-domain analysis with 50-yr random sea state is performed. A comparison of the results of different case studies is made to assess the influence of second-order wave force on the motions of the platform. The analysis shows that the second-order wave force has a major impact on motions of the TLP. The second-order difference-frequency wave force has an obvious influence on the low-frequency motions of surge and sway, and also will induce a large set-down motion which is an important part of heave motion. Besides, the second-order sum-frequency force will induce a set of high-frequency motions of roll and pitch. However, little influence of second-order wave force is found on the yaw motion. 相似文献
3.
针对恒星日滤波中计算GPS卫星轨道运行周期提前时间的问题,提出一种基于傅里叶级数曲线拟合的提前时间估计方法。根据跨度达8 526 d的广播星历计算每天中所有可用卫星运行周期相对于前1 d的平均提前时间,将此平均提前时间作为采样点,以8阶三角函数形式展开的傅里叶级数进行曲线拟合,将卫星运行周期的提前时间拟合成关于时间的单一变量函数,免去了繁琐的计算步骤。实验结果表明,傅里叶级数恒星日滤波法缩小了监测点N、E、U三个方向坐标残差序列的均方根值,有效消除了GPS动态变形监测分析中的多路径影响,提高了复杂工程环境下动态变形监测中变形信息提取的能力。 相似文献
4.
The bending stresses of top tensioned riser(TTR)under combined excitations of currents, random waves and vessel motions are presented in this paper, and the effect of the internal flowing fluid on the riser stresses is also considered. The computation programs which are used to solve the differential equations in the time domain are compiled and the principal factors of concern including the angular movements at the upper and lower ends of the riser, lateral displacements and bending stresses are presented. Then the effects of current velocity, random wave, top tension, vessel mean offset, low frequency motion and internal flow velocity on the bending stresses of the riser are analyzed in detail. 相似文献
5.
HUBao-qing LIAOChi-mei YANZhi-qiang LILing QINKai-xian 《中国地理科学(英文版)》2004,14(2):122-128
In order to study the spatial-temporal change and environmental management of regional karst LUCC (land use and land cover change) and its causative environmental effect-rocky dcsertification by integrating qualitative analysis and quantitative analysis, and relying on RS, GIS and GPS (3S) techniques, karst land rocky derification dynamic monitoring and visualization management information system (KLRD.DMVM.IS) is framed, which includes design aim and structure model, function design, database design and model system design. The model system design gives priority to dynamic monitoring, drive force diagnosis, comprehensive evaluation and decision support of karst rocky desertification. From the viewpoint of model type, mathematic expression and its meaning, the dynamic monitoring models are concretely devised to reflect the spatial and temporal changing features and the trend of karst LUCC and rocky desertification. Taking Du‘an Yao Autonomic County of Guangxi as an example, the KLRD.DMVM.1S is systematically analyzed in the application of the process and trend of karst LUCC and rocky desertiflcation in Du‘an County, and it provides the technical support for the study on karst land rocky desertification. 相似文献
6.
提出北斗伪距差分和北斗/GPS联合伪距差分算法,并利用中国北斗沿海差分台站播发信号进行陆地定点和海上动态测试。结果表明,在距台站300 km以内,北斗平面定位精度优于1.5 m（95%置信水平）,高程定位精度优于2.5 m（95%置信水平）|GPS+北斗联合定位精度、数据有效率均优于单独GPS或北斗系统|单独北斗系统的定位精度和性能优于RBN差分系统设计要求。 相似文献
7.
基于双频非组合PPP模型,采用常量模型、白噪声模型和随机游走模型对ISB参数进行处理,利用7个MGEX测站10 d的数据进行静态和仿动态实验,并分析3种模型的收敛时间和定位精度。结果表明,在收敛时间方面,随机游走模型和白噪声模型效果一致,总体优于常量模型,静态和仿动态下分别提升15.4%和29.4%;在定位精度方面,随机游走模型和白噪声模型效果相当,较常量模型在E、U方向上精度提升最为明显,静态下E和U方向的精度分别提升约77.7%和32.2%,在仿动态定位中E和U方向的精度分别提升约66%和43.5%。 相似文献
8.
《中国海洋大学学报(英文版)》2019,(6)
Increasing degrees of freedom(DOFs) is a useful way to raise the power capture efficiency of oscillating wave energy converters. Thus, this study proposes a buoy with three DOFs, which are surge, heave, and pitch. The hydrodynamic performance and power capture efficiency of the buoy is physically modeled. Amplitudes of unidirectional and coupled motions are compared to analyze the interaction effect between freedoms under conditions with and without power take-off damping. The capture width ratio and corresponding growth rates are also calculated. Results show that the buoy makes a periodic sinusoidal(or approximate) movement in every DOF. Coupling effect can cause an increase in the amplitude in one DOF and a decrease in the amplitudes of the others. This phenomenon shows that the kinematic energy of the buoy redistributes to all DOFs compared with the unidirectional conditions. Adding DOFs can improve the power absorption of the buoy in most cases, but the number of DOFs is not the more the better. 相似文献
9.
以陆态网络和尼泊尔境内高频（1 Hz）GPS观测数据为基础,采用动态双差相对定位方法,获取2015年尼泊尔MW7.8和MW7.3地震震时近场地表动态变形过程。结果表明,MW7.8地震震中东侧高频GPS站动态位移幅度明显大于震中西侧;各高频GPS站动态位移幅度不仅与测站震中距有关,而且与地震破裂传播方向有关;MW7.3地震引起的水平动态位移相对较小。将高频GPS与邻近强震仪动态位移时序进行对比发现,二者在振幅和相位上具有较好的一致性。 相似文献
10.
The underwater installation of marine equipment in deep-water development requires safe lifting and accurate positioning. The heave compensation system is an important technology to ensure normal operation and improve work accuracy. To provide a theoretical basis for the heave compensation system, in this paper, the continuous modeling method is employed to build up a coupled model of deep-water lifting systems in vertical direction. The response characteristics of dynamic movement are investigated. The simulation results show that the resonance problem appears in the process of the whole releasing load, the lifting system generates resonance and the displacement response of the lifting load is maximal when the sinking depth is about 2000 m. This paper also analyzes the main influencing factors on the dynamic response of load including cable stiffness, damping coefficient of the lifting system, mass and added mass of lifting load, among which cable stiffness and damping coefficient of the lifting system have the greatest influence on dynamic response of lifting load when installation load is determined. So the vertical dynamic movement response of the load is reduced by installing a damper on the lifting cable and selecting the appropriate cable stiffness. 相似文献
11.
【目的】解决具有外部受风流干扰和舵角输入受约束的欠驱动船舶路径跟踪问题。【方法】采用基于欧拉迭代的模型预测控制算法(MPC)对欠驱动船舶路径跟踪进行控制。【结果】MPC能够灵活地处理舵角输入受约束问题,欧拉迭代法离散和预测船舶未来状态可以简化MPC设计的运算。为弥补欧拉迭代法在精度上的不足,直接以分离型船舶模型(MMG)作为MPC的预测模型。应用径向基函数(RBF)神经网络历史信息训练实现对外界风流干扰的逼近及补偿。【结论】所设计的控制器可以使船舶在考虑风流干扰和舵角约束的情况下准确地跟踪上设定的路径,所提控制算法的有效性得到验证。 相似文献
12.
13.
Using frequency and time domain analysis, the authors analyzed the hydrodynamics and motion behavior of a Truss Spar platform at a water depth of 1500 m in the Liwan 3-1 area of the South China Sea. Firstly, the seakeeping ability is acquired in the frequency domain by calculating the hull’s hydrodynamics and comparing with a semi-submersible platform. The random wave analysis for 100-year, 10-year and 1-year return periods in Liwan 3-1 distinctly shows lower heave but larger surge and pitch re-sponses of the Truss Spar than those of a semi-submersible. Secondly, 3-hour motions of the Truss Spar are predicted and compared in the time domain under 100-year return period conditions in Liwan 3-1 and the Gulf of Mexico. Thirdly, the hull/mooring line cou-pled and uncoupled models are compared. Finally, the responses of the Truss Spar under 10-year and 1-year return period conditions are assessed. The results reveal that the mooring line damping reflected by the coupled model distinctly decreases the low frequency motion. The maximum heave response for 100-year return period waves is 1.23m and below 0.1m for the case of 1-year return period. 相似文献
14.
阴影匹配算法可在城市峡谷中较好地提高移动终端GNSS定位精度,但是传统阴影匹配算法中用于判断卫星可见性的信噪比阈值为固定单一阈值,无法保证所有卫星可见性的判断正确,从而影响定位精度。针对以上情况提出基于动态阈值的阴影匹配算法,使每颗卫星的判断阈值随卫星几何可见性和信噪比可见性相互校正而改变。通过对手机GNSS原始定位结果及卡尔曼滤波后的定位结果进行两种阴影匹配算法计算及对比分析,结果表明,动态阈值法相对于单一阈值法平均点位误差在标准单点定位时可降低约15.1%,在卡尔曼滤波后可降低22.4%,定位精度均得到提升。 相似文献
15.
Many studies have been done on the heave-pitch unstable coupling response for a spar platform by a 2-DOF model. In fact, in addition to the heave and pitch which are in one plane, the nonlinear unstable motion will also occur in roll. From the results of the experiments, the unstable roll motion plays a dominant role in the motion of a spar platform which is much stronger than that of pitch. The objective of this paper is to study 3-DOF coupling response performance of spar platform under wave and vortex-induced force. The nonlinear coupled equations in heave, roll and pitch are established by considering time-varying wet surface and coupling. The first order steady-state response is solved by multi-scales method when the incident wave frequency approaches the heave natural frequency. Numerical integration of the motion equations has been performed to verify the first-order perturbation solution. The results are confirmed by model test. There is a saturation phenomenon associated with heave mode in 3-DOF systems and all extra energy is transferred to roll and pitch. It is observed that sub-harmonic response occurs in roll and pitch when the wave force exceeds a certain value. The energy distribution in roll and pitch is determined by the initial value and damping characteristics of roll and pitch. The energy transfers from heave to pitch and then transfers from pitch to roll. Due to the influence of the low-frequency vortex-excited force, the response of roll is more complicated than that of pitch. 相似文献
16.
A Constrained Interpolation Profile(CIP)-based model is developed to predict the mooring force of a two- dimensional floating oil storage tank under wave conditions, which is validated against to a newly performed experiment. In the experiment, a box-shaped floating oil storage apparatus is used. Computations are performed by an improved CIP-based Cartesian grid model, in which the THINC/SW scheme(THINC: tangent of hyperbola for interface capturing; SW: Slope Weighting), is used for interface capturing. A multiphase flow solver is adopted to treat the water-air-body interactions. The Immersed Boundary Method(IBM) is implemented to treat the body surface. Main attention is paid to the sum force of mooring line and velocity field around the body. It is found that the sum force of the mooring line increases with increasing wave amplitude. The body suffers from water wave impact and large body motions occur near the free surface. The vortex occurs near the sharp edge, i.e., the sharp bottom corners of the floating oil storage tank and the vortex shedding can be captured by the present numerical model. The present model could be further improved by including turbulence model which is currently under development. Comparison between the computational mooring forces and the measured mooring forces is presented with a reasonable agreement. The developed numerical model can predict the mooring line forces very well. 相似文献
17.
使用可观测到BDS-3 B1I/B1C/B2a频率和GPS L1/L5频率的智能手机Xiaomi 11(青春版)作为研究对象,分别进行静态实验和不同场地的动态实验,分析手机输出的三频BDS和双频GPS原始观测数据质量及单频SPP性能。实验结果表明,智能手机的GNSS天线成本低致使其信号质量不佳,其中GPS L1频率和BDS B1C频率抗干扰性较强:BDS B1C频率定位结果在静态和动态实验中均较为稳定;GPS L1频率定位结果在动态实验中优于GPS L5频率,在静态实验中略差于GPS L5频率。 相似文献
18.
It is considered that the damage of the underground structures caused by earthquakes is minor for a long time. However, the catastrophic damages induced by several recent earthquakes ( e. g. Kobe earthquake in 1995) revealed that the study on the dynamic properties of the underground structures is indispensable. The dynamic behavior and damage mechanism of underground structure are analyzed by using shaking table tests ( both shallow- and deep-buried) and numerical simulation ( 3D FEM) including horizontal and vertical input motions, individually and simultaneously. From the results, the underground structure collapsed due to strong horizontal forces although vertical deformation is not negligible. The vertical excitation increases the response of structure, especially the stress and shear stress at the upper section; the soil influenced the property of soil-structure system. In the same excitation, the response in shallow-buried test is larger than deep case. Both overburden and vertical earthquake play important roles in the response of structure and those are two critical aspects in the design of the large-span underground structures, such as subway stations. 相似文献
19.
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20.
To solve the numerical divergence problem of the direct time domain Green function method for the motion simulation of floating bodies with large flare, a time domain hybrid Rankine-Green boundary element method is proposed. In this numerical method, the fluid domain is decomposed by an imaginary control surface, at which the continuous condition should be satisfied. Then the Rankine Green function is adopted in the inner domain. The transient free surface Green function is applied in the outer domain, which is used to find the relationship between the velocity potential and its normal derivative for the inner domain. Besides, the velocity potential at the mean free surface between body surface and control surface is directly solved by the integration scheme. The wave exciting force is computed through the convolution integration with wave elevation, by introducing the impulse response function. Additionally, the nonlinear Froude-Krylov force and hydrostatic force, which is computed under the instantaneous incident wave free surface, are taken into account by the direct pressure integration scheme. The corresponding numerical computer code is developed and first used to compute the hydrodynamic coefficients of the hemisphere, as well as the time history of a ship with large flare; good agreement is obtained with the analytical solutions as well as the available numerical results. Then the hydrodynamic properties of a FPSO are studied. The hydrodynamic coefficients agree well with the results computed by the frequency method; the influence of the time interval and the truncated time is investigated in detail. 相似文献