共查询到20条相似文献，搜索用时 406 毫秒
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日本潜艇在“二战”时等级一般划分为1级至3级,1级潜艇的标准排水量为1000吨以上,2级潜艇的标准排水量为1000吨以下、500吨以上,3级潜艇的标准排水量为500吨以下,伊型潜艇属于1级潜艇,吕型潜艇属于2级潜艇,波型潜艇属于3级潜艇。日本的潜艇具有一个显著的特点,就是艇式繁多,除大、中、小型鱼雷攻击潜艇外,还有巡逻潜艇、布雷潜艇、运输潜艇和可携带1～3架飞机或袖珍潜艇的各类潜艇。由于日本海军一向比较重视 相似文献
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指控系统是潜艇作战的核心,对潜艇的战斗力生成起着至关重要的作用。潜艇指控系统必须要满足潜艇作战的需要。通过研究美国和英国潜艇指控系统的发展,分析美国和英国指控系统发展的技术特点, 在此基础上进行思考。从支持无人装备、系统结构、系统智能化和智能化显示方面得出潜艇指控系统未来发展的几点启示。这对潜艇指控系统未来的发展具有一定的参考价值。 相似文献
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从潜艇反鱼雷防御的角度出发,主要介绍和分析了潜艇反鱼雷防御的战术背景、对抗措施的发展现状和未来的发展方向3个方面的内容,针对潜艇面临的鱼雷和反潜威胁,对潜艇主动和被动防御的技术特点进行了总结,重点对潜艇针对未来反潜作战需求构建网络中心化、多层次、多平台、智能化的综合防御体系进行了思考和设想,为潜艇水下反鱼雷防御技术发展、体系构建提供了重要的参考价值。 相似文献
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2021年4月印度尼西亚海军“南伽拉402”号潜艇在巴厘岛以北约60海里（111.12 km）处发生沉没,分析表明大振幅海洋内孤立波作用可能是事故原因之一。基于大振幅内孤立波eKdV理论与Morison公式建立了内孤立波作用下潜艇的运动学模型,揭示不同内孤立波振幅、潜艇潜深条件下潜艇的运动响应特性,进一步说明内孤立波可能造成印度尼西亚潜艇失事。结果表明：内孤立波对潜艇的运动状态产生巨大影响。垂直方向上潜艇在短时间内产生大幅度掉深,而水平方向上其运动方向在密度界面上或界面处与内孤立波传播方向一致,界面下则相反,且内孤立波产生的垂向力矩可能造成潜艇倾覆。不同波幅、潜深下潜艇表现出不同的运动响应规律。研究表明印度尼西亚潜艇失事可能是潜艇执行任务过程中遭遇了较大振幅内孤立波,导致其发生大幅度、迅速掉深。 相似文献
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超导潜艇超导潜艇又称磁流体潜艇，是以超导技术为基础的电池推进潜艇，采用一种全新的、没有螺旋浆和减速箱等传动机械的推进方式。磁流体推进的基本原理是，通过潜艇内部电机产生强磁场，在与磁场垂直的海水中通以电流，那么在电磁的作用下，海水将产生运动，海水从潜艇运动的相反方向高速喷出，从而推动潜艇前进。超导潜艇具有较强的隐身能力，磁流体推进不需要螺旋浆、减速箱等一些机械装置，不仅减少了潜艇的载荷，而且极大地降低了潜艇的噪声，大大增强了隐身能力。该种艇的机动性能也是无与伦比的，它主要靠改变流体的电流强度和流向… 相似文献
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Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins 总被引：1，自引：0，他引：1
In this paper, adaptive control of low speed bio-robotic autonomous underwater vehicles (BAUVs) in the dive plane using dorsal fins is considered. It is assumed that the model parameters are completely unknown and only the depth of the vehicle is measured for feedback. Two dorsal fins are mounted in the horizontal plane on either side of the BAUV. The normal force produced by the fins, when cambered, is used for the maneuvering. The BAUV model considered here is non-minimum phase. An indirect adaptive control system is designed for the depth control using the dorsal fins. The control system consists of a gradient based identifier for online parameter estimation, an observer for state estimation, and an optimal controller. Simulation results are presented which show that the adaptive control system accomplishes precise depth control of the BAUV using dorsal fins in spite of large uncertainties in the system parameters. 相似文献
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《Ocean Engineering》2006,33(11-12):1413-1430
This paper presents the design of an adaptive input–output feedback linearizing dorsal fin control system for the yaw plane control of low-speed bio-robotic autonomous underwater vehicles (BAUVs). The control forces are generated by cambering two dorsal fins mounted in the vertical plane on either side of the vehicle. The BAUV model includes nonlinear hydrodynamics, and it is assumed that its hydrodynamic coefficients as well as the physical parameters are not known. For the purpose of design, a linear combination of the yaw angle tracking error and its derivative and integral is chosen as the controlled output variable. An adaptive input–output feedback linearizing control law is derived for the trajectory control of the yaw angle. Unlike indirect adaptive control, here the controller gains are directly tuned. The stability of the zero dynamics is examined. Simulation results are presented for tracking exponential and sinusoidal yaw angle trajectories and for turning maneuvers, and it is shown that the adaptive control system accomplishes precise yaw angle control of the BAUV using dorsal fins in spite of the nonlinearity and large uncertainties in the system parameters. 相似文献
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Dynamic Positioning Control of Surge-Pitch Coupled Motion for SmallWaterplane-Area Marine Structures
《中国海洋工程》2021,(4)
For general dynamic positioning systems, controllers are mainly based on the feedback of motions only in the horizontal plane. However, for marine structures with a small water plane area and low metacentric height,undesirable surge and pitch oscillations may be induced by the thruster actions. In this paper, three control laws are investigated to suppress the induced pitch motion by adding pitch rate, pitch angle or pitch acceleration into the feedback control loop. Extensive numerical simulations are conducted with a semi-submersible platform for each control law. The influences of additional terms on surge-pitch coupled motions are analyzed in both frequency and time domain. The mechanical constraints of the thrust allocation and the frequency characters of external forces are simultaneously considered. It is concluded that adding pitch angle or pitch acceleration into the feedback loop changes the natural frequency in pitch, and its performance is highly dependent on the frequency distribution of external forces, while adding pitch rate into the feedback loop is always effective in mitigating surge-pitch coupled motions. 相似文献
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在目前海洋测绘中,平面控制测量主要采用静态同步观测方式,通过联测不少于2个已知控制点实施。为探究少于3个已知控制点时能否有效开展平面控制测量,结合工程试验,采用RTX后处理(RTX-PP)技术获得控制点ITRF2014框架当前历元坐标,然后根据已知控制点数量情况,分别采用四参数平面坐标转换、坐标平移转换、框架及历元转换将上述坐标转换至2000国家大地坐标系(CGCS 2000)坐标,并与控制点已知坐标对比。结果表明:点位精度介于0.01～0.03 m之间,满足海洋测绘中控制点点位精度要求。该测量方法可作为静态同步观测的有益补充,也可作为现行规范后续修订完善的有益尝试。 相似文献
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In this paper, a robust path following control law is proposed for a deep-sea manned submersible maneuvering along a predeterminated path. Developed in China, the submersible is underactuated in the horizontal plane in that it is actuated by two perpendicular thrusts in this plane. The advanced non-singular terminal sliding mode （NTSM） is implemented for the design of the path following controller, which can ensure the convergence of the motion system in finite time and improve its robustness against parametric uncertainties and environmental disturbances. In the process of controller design, the close-loop stability is considered and proved by Lyapunov＇ s stability theory. With the experimental data, numerical simulations are provided to verify the control law for path following of the deep-sea manned submersible. 相似文献
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The effect of biofouling on the hydrodynamic characteristics of the net cage is of particular interest as biofouled nettings can significantly reduce flow of well-oxygenated water reaching the stocked fish. For computational efficiency, the porous-media fluid model is proposed to simulate flow through the biofouled plane net and full-scale net cage. The porous coefficients of the porous-media fluid model can be determined from the quadratic-function relationship between the hydrodynamic forces on a plane net and the flow velocity using the least squares method. In this study, drag forces on and flow fields around five plane nets with different levels of biofouling are calculated by use of the proposed model. The numerical results are compared with the experimental data of Swift et al. (2006) and the effectiveness of the numerical model is presented. On that basis, flow through full-scale net cages with the same level of biofouling as the tested plane nets are modeled. The flow fields inside and around biofouled net cages are analyzed and the drag force acting on a net cage is estimated by a control volume analysis method. According to the numerical results, empirical formulas of reduction in flow velocity and load on a net cage are derived as function of drag coefficient of the corresponding biofouled netting. 相似文献
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《中国海洋工程》2015,(3)
The effect of biofouling on the hydrodynamic characteristics of the net cage is of particular interest as biofouled nettings can significantly reduce flow of well-oxygenated water reaching the stocked fish. For computational efficiency, the porous-media fluid model is proposed to simulate flow through the biofouled plane net and full-scale net cage. The porous coefficients of the porous-media fluid model can be determined from the quadratic-function relationship between the hydrodynamic forces on a plane net and the flow velocity using the least squares method. In this study, drag forces on and flow fields around five plane nets with different levels of biofouling are calculated by use of the proposed model. The numerical results are compared with the experimental data of Swift et al.(2006) and the effectiveness of the numerical model is presented. On that basis, flow through full-scale net cages with the same level of biofouling as the tested plane nets are modeled. The flow fields inside and around biofouled net cages are analyzed and the drag force acting on a net cage is estimated by a control volume analysis method. According to the numerical results, empirical formulas of reduction in flow velocity and load on a net cage are derived as function of drag coefficient of the corresponding biofouled netting. 相似文献
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Jan Petrich 《Ocean Engineering》2011,38(1):197-204
Attitude control systems for autonomous underwater vehicles are often implemented with separate controllers for pitch motion in the vertical plane and yaw motion in the horizontal plane. We propose a novel time-varying model for a streamlined autonomous underwater vehicle that explicitly displays the coupling between yaw and pitch motion due to nonzero roll angle and/or roll rate. The model facilitates the use of a multi-input multi-output H∞ control design that is robust to yaw-pitch coupling. The efficacy of our approach is demonstrated with field trials. 相似文献