共查询到20条相似文献，搜索用时 250 毫秒
1.
Utilization of measurements from on-board monitoring systems of marine vessels is a part of shipbuilding industry’s digitalization phase. The data collected can be used to verify and improve vessel’s power system design. Deployment of data-driven statistical models can enhance the knowledge about the power requirements. In this study, we describe a data-driven statistical model that can be used to study and analyze the power requirement of a vessel, which might help to understand the key factors that influence the power and to quantify their contribution. We propose a powerful tool namely, generalized additive model (GAM), which allows us to model nonlinearities. We build the GAM to see the relationship between power consumed and the key influential factors for a power system based on real data from a platform supply vessel (PSV) in a dynamic positioning (DP) mode with diesel-electric configuration. We also describe the importance of feature extraction based on Hilbert Transform to improve the model. In addition, we fit the linear regression (LR) model as a reference model. In the last phase we verify the results of GAM, LR with simulation model from ShipX to show that the data-driven model is within the boundaries of power requirement from simulations. 相似文献
2.
In this paper a nonlinear dynamic PDE formulation for a pipe string suspended from a pipelay vessel to the seabed in a pipelay operation is developed. This model extends a three-dimensional beam model capable of undergoing finite extension, shearing, twist and bending, to apply for marine applications by adding the effects of restoring forces, hydrodynamic drag and seabed interaction. The model is validated against the natural catenary equation and the FEM code RIFLEX. The model is extended to include the pipelay vessel dynamics by applying a potential theory formulation of a surface vessel, suited for dynamic positioning and low speed maneuvering, as a boundary condition for the PDE. This system is found to be input-output passive and stable. Pipeline installation applications where the presented model is suited are e.g., analysis and simulation of the installation operation, operability analysis, hardware-in-the-loop (HIL) testing for vessel control systems, and automation of the pipelay operation. 相似文献
3.
Time-domain models of marine structures based on frequency domain data are usually built upon the Cummins equation. This type of model is a vector integro-differential equation which involves convolution terms. These convolution terms are not convenient for analysis and design of motion control systems. In addition, these models are not efficient with respect to simulation time, and ease of implementation in standard simulation packages. For these reasons, different methods have been proposed in the literature as approximate alternative representations of the convolutions. Because the convolution is a linear operation, different approaches can be followed to obtain an approximately equivalent linear system in the form of either transfer function or state-space models. This process involves the use of system identification, and several options are available depending on how the identification problem is posed. This raises the question whether one method is better than the others. This paper therefore has three objectives. The first objective is to revisit some of the methods for replacing the convolutions, which have been reported in different areas of analysis of marine systems: hydrodynamics, wave energy conversion, and motion control systems. The second objective is to compare the different methods in terms of complexity and performance. For this purpose, a model for the response in the vertical plane of a modern containership is considered. The third objective is to describe the implementation of the resulting model in the standard simulation environment Matlab/Simulink. 相似文献
4.
This paper concerns the design of feedback control systems to maximize power generation of a wave energy converter (WEC) in a random sea. In the literature on WEC control, most of the proposed feedback controllers fall into three categories. Many are static; i.e., they extract power by imposing an equivalent damping or resistive load on the power take-off (PTO) devices. Others are dynamic and are designed to maximize power generation at all frequencies, which results in an anticausal feedback law. Other dynamic control design methods are causal, and are tuned to achieve the anticausal performance at only a single frequency. By contrast, this paper illustrates that the determination of the true optimal causal dynamic controller for a WEC can be found as the solution to a nonstandard linear quadratic Gaussian (LQG) optimal control problem. The theory assumes that the control system must make power generation decisions based only on present and past measurements of the generator voltages and/or velocities. It is shown that unlike optimal anticausal control, optimal causal control requires knowledge of the stationary spectral characteristics of the random sea state. Additionally, it is shown that the efficiency of the generator factors into the feedback synthesis. The theory is illustrated on a linear dynamical model for a buoy-type WEC with significant resonant modes in surge and pitch, and equipped with three spatially-distributed generators. 相似文献
5.
This paper presents a neural network (NN) controller for a fishing vessel rudder roll system. The aim of this study is to build a NN controller which uses rudder to regulate both the yaw and roll motion. The neural controller design is accomplished with using the classical back-propagation algorithm (CBA). Effectiveness of the proposed NN control scheme is compared with linear quadratic regulator (LQR) results by simulations carried out a fishing vessel rudder roll stabilizer system. 相似文献
6.
Lifetime Prolonging Algorithms for Underwater Sensor Networks 总被引：3，自引：0，他引：3
1.IntroductionRecent advances in acoustic communication,sensor networks and ad hoc networks have motivatedthe development of UASNs which are generallyformed by a surface station,autonomous underwater ve-hicles(AUVs)and sensor nodes that possess sensing,si… 相似文献
7.
Robust prediction of extreme motions during wind farm support vessel(WFSV)operation is an important safety concern that requires further extensive research as offshore wind energy industry sector widens.In particular,it is important to study the safety of operation in random sea conditions during WFSV docking against the wind tower,while workers are able to get on the tower.Docking is performed by thrusting vessel fender against wind tower(an alternative docking way by hinging is not studied here).In this paper,the finite element software AQWA has been used to analyze vessel response due to hydrodynamic wave loads,acting on a specific maintenance ship under actual sea conditions.Excessive roll may occur during certain sea conditions,especially in the beam sea,posing a risk to the crew transfer operation.The Bohai Sea is the area of diverse industrial activities such as offshore oil production,wave and wind power generation,etc.This paper advocates a novel method for estimating extreme roll statistics,based on Monte Carlo simulations(or measurements).The ACER(averaged conditional exceedance rate)method and its modification are presented in brief detail in Appendix.The proposed methodology provides an accurate extreme value prediction,utilizing available data efficiently.In this study the estimated return level values,obtained by ACER method,are compared with the corresponding return level values obtained by Gumbel method.Based on the overall performance of the proposed method,it is concluded that the ACER method can provide more robust and accurate prediction of the extreme vessel roll.The described approach may be well used at the vessel design stage,while defining optimal boat parameters would minimize potential roll. 相似文献
8.
A mathematical model is proposed for longitudinal oscillations of a tackle used for salvaging sunken vessels to the sea surface. The numerical approximation of the obtained model along the tackle rope length is accomplished by means of the finite-difference method. To implement this method, the transformation of independent coordinates is introduced into the constant step mesh. The integration with respect to time is carried out by the Φ-Wilson method. To solve the nonlinear systems of algebraic equations, iteration methods are used. There are examples of calculations for the vessel separation from the seabed and salvage from 1655 m depth when using various methods of controlling the winch shaft moment. The area of winch moment and heaving motion amplitude values that provide vessel emergency-free separation from seabed are calculated. It is shown that, with accuracy sufficient for practical use, the rope system of the tackle can be replaced in some cases by a single equivalent rope. Moreover, the rope mass can be neglected if it is considerably less than the mass of the vessel being salvaged. It is emphasized that the selection of the control of the velocity of salvage depends to a large extent on winch operation peculiarities. 相似文献
9.
There is a growing concern with the impact of marine operations on the environment. This requires reducing fuel consumption and vessel pollution during operation. On-board computers and satellite communications will enable the operator to reduce fuel consumption and NOX emissions during vessel operations.This paper presents the results of a study on this problem and how such an on-board system could be implemented to reduce fuel consumption and engine NOX emissions. 相似文献
10.
Diesel-electric power and propulsion systems with electric thrusters are the industry standard for vessels with dynamic positioning (DP) systems. Diesel engines are paired with generators in generator sets and are used to produce electric power used by thrusters and main propellers during stationkeeping and transit, and other consumers such as hotel load, drilling drives, cranes, and heave compensators. Consequence analysis is used to verify the safety of a DP operation. It is used to check whether there is sufficient running power and thruster capacity available to retain sufficient thrust to maintain vessel position after a worst single failure. Recently, extensions of class rules enable standby generators to be considered in this analysis. This provides a more efficient configuration as relatively fewer generator sets may be running. However, DP performance is degraded during the transition from the fault occurrence until the plant is completely recovered. It is important to determine if this degradation leads to a loss of position during the transition. This study presents a simulation-based dynamic consequence analysis method that can be used to dynamically simulate fault scenarios such that the dynamics of the transient recovery can be analyzed. This analysis can be used for decision-support to configure marine electric power plants in DP. Results from the simulation study show that the currently used static consequence analysis method may provide non-conservative results under certain configurations. 相似文献
11.
Dynamic positioning (DP) is an operation method whereby the position of a surface vessel is maintained in close proximity to a required position in the horizontal plane through the controlled application of forces and moments generated by purposely installed thrusters. When estimating thrust, this kind of conventional control system often uses many acceleration sensors, velocity sensors, environment sensors, and filters. Usually, these sensors have measured electrical errors. To reduce the number of sensors used and to decrease the measurement errors, this article presents an effective control system for estimating thrust and moment commands, which is based on energy and impulsemomentum principles. Donha and Brinati's example is followed to verify the feasibility of the present control system, which performs semisubmersible platform positioning using an LQG controller, and the results are feasible and economical. A simulated coring vessel marine positioning in southern Taiwan is presented, which can estimate the counterthrust and moment commands, and the complex environmental forces and moments are described. The results can provide a valuable control system for dynamically positioned vessels. 相似文献
12.
Ocean wave energy converters (WECs) are obtaining more and more attentions in the world. So far, many types of converters have been invented. Oscillating body systems are a major class of WECs, which typically have one degree of freedom (DOF), and the power absorption efficiency is not quite satisfactory. In this paper, a 3-DOF WEC is proposed and a simplified frequency-domain dynamic model of the WEC depending on the linear potential theory is conducted. The performances of three geometries of the oscillating body including the cone, the cylinder and the hemisphere have been compared, and the results show that the hemisphere is more suitable for the 3-DOF WEC. Subsequently, the relationship among the parameters of the hemisphere is established based on the equal natural frequencies of the heave and pitch (or roll) motions, and the results show that lowering the center of gravity leads to the better power absorption in the pitch (or roll) motion. In the end, the power matrixes of different sizes of the hemispheres under different irregular waves are obtained, which can give a size design reference for engineers. 相似文献
13.
新型双船起重拆除平台试验研究 总被引：1，自引：1，他引：0
拆除大型海上结构物是一项非常复杂且充满挑战的工程。现提出一种新型海上平台拆除方案,该方案利用三条半潜船来代替具有重型起重装置的单一船舶,通过两艘相同的半潜船将平台上层建筑托起,随后运至第三艘半潜船上完成平台拆除。在风浪流作用下,半潜船和平台的所处方位和运动姿态一直处于动态变化中,这对船舶调节压载的稳定性以及双船运动的同步性提出了要求。为了确保该方案的高效性和安全性,设计了一套完整的模型试验装置,包括船舶模型、平台拆卸辅助设备、六自由度运动采集与分析系统、控制系统、无线通讯系统以及测量系统。开展了相应的水池试验,试验结果验证了双船起重拆除平台方案中双船协同运输这一关键环节的可行性和安全性。 相似文献
14.
Marek Szczotka 《Ocean Engineering》2010,37(7):539-548
Dynamic and quasi-static models for analysis of a pipe lay spread are presented in the paper. Depending on the type of a pipe, spooling it on a big drum (reel) may cause plastic deformations. When the pipe is reeled out at sea, again it undergoes plastic deformations. In order to model such a nonlinear behaviour, a model, which includes both elasto-plastic material characteristics and large deformations, is required. Discretisation of the pipe is performed by means of the Rigid Finite Element Method (RFEM), which allows us to study static and dynamic problems, taking into account required properties of the model. Different sea conditions are simulated and analysed. It is shown how operational conditions can limit the ability of laying operation by a dedicated vessel, due to an unstable system response. The second part of the paper presents an upgrade of a passive reel drive by application of an active drive. In the model used for control applications, the pipe is modelled by a neural network. This allows us to perform a real-time calculations. In this fast-response calculation model, nonlinear aspects of the system are taken into account. The improvements in a pipe laying vessel performance are presented by some results of numerical simulations. The conclusions are also formulated. 相似文献
15.
T. Bjarte-Larsson 《Ocean Engineering》2006,33(7):847-877
A heaving axisymmetric floating body is tested with sinusoidal incident waves in a wave channel. It is connected to the piston of a pump, and it may be latched by an electromagnetic mechanism. Experimental results are compared with a linear mathematical model, for heave response, hydrodynamic parameters, absorbed wave power and converted hydraulic power. Heave resonance occurs at 1.1 Hz. For sub-resonant frequencies, latching control results in a significant increase in heave response and in absorbed, as well as converted, power. Hydraulic energy capture increases by a factor of 2.8 or 4.3 for frequency 0.75 or 0.5 Hz, respectively. 相似文献
16.
PETREL,a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV (autonomous underwater vehicle).It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile.In this paper,theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration.In addition,due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes,the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced,and the tailored dynamic equations of the hybrid glider are formulated.Moreover,the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials. 相似文献
17.
Dynamic positioning (DP) is an operation method whereby the position of a surface vessel is maintained in close proximity to a required position in the horizontal plane through the controlled application of forces and moments generated by purposely installed thrusters. When estimating thrust, this kind of conventional control system often uses many acceleration sensors, velocity sensors, environment sensors, and filters. Usually, these sensors have measured electrical errors. To reduce the number of sensors used and to decrease the measurement errors, this article presents an effective control system for estimating thrust and moment commands, which is based on energy and impulsemomentum principles. Donha and Brinati's example is followed to verify the feasibility of the present control system, which performs semisubmersible platform positioning using an LQG controller, and the results are feasible and economical. A simulated coring vessel marine positioning in southern Taiwan is presented, which can estimate the counterthrust and moment commands, and the complex environmental forces and moments are described. The results can provide a valuable control system for dynamically positioned vessels. 相似文献
18.
Influence of non-linearities on the limits of stability of ships rolling in head seas 总被引：3，自引：0，他引：3
The present paper describes an investigation on parametric resonance in head seas in which a new third-order coupled mathematical model is considered. The restored modes of heave, roll and pitch are contemplated. The discussion is illustrated for the case of a transom stern fishing vessel at different speeds. It is pointed out that numerical simulations employing the new model are successfully compared to experimental results previously obtained for the vessel.Considering that analyticity is an important tool when handling complex stability issues, some theoretical dynamic characteristics of the equations are discussed. By means of the analysis of the coupled linear variational equation derived from an extended third-order model, the appearance of super-harmonics and increased rigidity proportional to wave amplitude squared due to third-order terms is demonstrated.In the present paper, an important tool is explored, that is the analysis of the limits of stability obtained from the new model. Limits of stability are a well-known and practical way of looking into the problem of parametric resonance. New limits of stability are derived and compared to the more conventional Strut diagram. Dynamic characteristics associated with the new limits of stability are discussed. The influence of different parameters is investigated, including vessel speed, damping and tuning. Consistent and revealing results are obtained through the analysis of the new limits of stability for different speeds and damping. 相似文献
19.
Kyoung Kim Powers E. Ritz C. Miksad R. Fischer F. 《Oceanic Engineering, IEEE Journal of》1987,12(4):568-575
A quadratic system model based on Volterra series representation is utilized to model the nonlinear response of moored vessels subjected to random seas. The key idea is to represent the relationship between the incident sea wave (input) and corresponding sway response of the moored vessel (output) with a parallel combination of linear and quadratic transfer functions, and to estimate them by processing actual input and output data. Compared to previous approaches, we take the important step of removing the restriction that the random input must possess Gaussian statistics. The feasibility and validity of the approach is demonstrated by analyzing experimental data taken in model basin tests. We also describe some of the deleterious consequences of assuming Gaussian sea-wave excitation when in fact the excitation is non-Gaussian. 相似文献
20.
The asymmetric or periodically varying blade loads resulted by wind shear become more significant as the blade length is increased to capture more wind power. Additionally, compared with the onshore wind turbines, their offshore counterparts are subjected to additional wave loadings in addition to wind loadings within their lifetime. Therefore, vibration control and fatigue load mitigation are crucial for safe operation of large-scale offshore wind turbines. In view of this, a multi-body model of an offshore bottom-fixed wind turbine including a detailed drivetrain is established in this paper. Then, an individual pitch controller (IPC) is designed using disturbance accommodating control. State feedback is used to add damping in flexible modes of concern, and a state estimator is designed to predict unmeasured signals. Continued, a coupled aero-hydro-servo-elastic model is constructed. Based on this coupled model, the load reduction effect of IPC and the dynamic responses of the drivetrain are investigated. The results showed that the designed IPC can effectively reduce the structural loads of the wind turbine while stabilizing the turbine power output. Moreover, it is found that the drivetrain dynamic responses are improved under IPC.
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