共查询到18条相似文献，搜索用时 93 毫秒
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超空泡射弹武器能够突破普通射弹水中运动极限，有效打击水雷等水下目标。针对水下发射超空泡射弹武器的平台适应性开展了初步研究，建立了超空泡射弹武器及 UUV 搭载平台仿真模型，计算分析了水下超空泡射弹武器在不同方位、不同角度发射时 UUV 平台姿态角的变化，得到了水下发射超空泡射弹对 UUV 平台姿态的影响规律，为水下超空泡射弹武器系统及其平台适配性研究提供了依据。 相似文献
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黄健 《数字海洋与水下攻防》2018,1(3):68-74
针对 UUV 对高逼真仿真的需求,设计了嵌入式硬件在环 UUV 模拟器。 选用 XMC4800 作为模拟器的主控芯片,设计了最小系统电路和通信接口电路。 给出了数据流图和主要软件算法,包含任务调度算法、任务优先级设计、UUV 模型选择、干扰模型选择和 CAN 应用层协议设计。 模拟器具有多种工作模式, 可以根据不同的应用场景,完成相应的硬件在环仿真,对 UUV 的研制、生产和使用具有一定的参考价值。 相似文献
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刘钰婷 《数字海洋与水下攻防》2022,5(4):374-380
为了准确地对水下无人航行器(Unmanned Underwater Vehicle,UUV)的集群作战能力进行效能评估,建立效能评估指标体系并将作战仿真结果作为效能评估的数据来源,获得评估结果。通过对特定想定场景下的 UUV 集群作战仿真进行实例化,对作战效能评估与作战仿真流程进行了介绍,得到了符合理论预期的 UUV 集群作战的效能评估结果,证明了方法的有效性,为多装备参与下的体系作战效能评估奠定了基础。 相似文献
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针对无人潜航器(UUV)在未知水下复杂环境的路径规划问题，设计了随机树以及动态窗口的融合算法。该算法基于快速扩展随机树(RRT)以及动态窗口(DWA)两层规划设计，第一层利用随机树算法快速规划出全局路径，在此基础上第二层加载全局路径，针对 UUV 模型的欠驱动和非线性，利用动态窗口算法完成局部路径规划，保证约束条件下 UUV 路径的安全性。通过融合参数 μ 修正内外框架的融合度，有效地弥补了全局路径算法的无法躲避动态障碍物的缺点以及局部路径算法全局能力低下的问题。最后，通过对比仿真验证了融合算法相比于随机树全局算法和动态窗口局部算法的优越性。 相似文献
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近年来,水下无人航行器(简称 UUV)在海洋资源勘测开发、海洋生态监测以及军事、经济、 社会等领域均有广泛应用,多 UUV 的编队控制成为国内外水下无人航行器研究的热点。首先给出了简化的三自由度 UUV 数学模型,然后通过平面直线的 Serret-Frenet 方程,建立 UUV 路径跟踪误差模型。通过运用领航者–跟随者方法构建 UUV 的编队控制模型,引入滑模控制的方法,对跟随者 UUV 的控制器进行设计,最终稳定地形成预设的编队。 相似文献
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本文研究了由污水排海工程污水扩散器排放污水形成的污染羽流在近岸水域中的运动及访问频率场模型。在对Churchill羽流运动模拟法改进的基础上,提出了羽流分片模拟法。本方法利用质量守恒原理给出了其变化关系,并采用连续释放质点追踪法计算羽流的运动路径。考虑到非保守性物质的衰减,给出了相应的计算羽流宽度的公式。对大连市黑石礁污水排海工程方案A污染羽流(以大肠杆菌作为污染指标物)访问频率场的计算表明:访问频率场对于污水排海工程环境影响预测评价和最优排污点的选择具有十分重要的意义。 相似文献
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介绍多水下机器人(UUV)数字仿真平台的硬件结构以及单体UUV和多UUV系统的水动力计算流程,在此基础上利用Windows多线程技术实现多UUV的水动力计算,该方法已经用于多UUV数字仿真平台虚拟环境节点的设计中.系统仿真实验表明该方法设计的应用程序具有良好的执行效率和实时响应能力,为以后多UUV半物理仿真平台的水动力计算和实体多UUV系统水动力系数的验证奠定了基础. 相似文献
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冷泉活动区气泡羽状流数值模拟的进一步研究 总被引：1，自引：1，他引：0
以南海气泡羽状流赋存特征为参考,本文继续研究冷泉活动区气泡羽状流的地震响应。为使羽状流建模方案更合理,根据水中气泡在上升过程时其半径的变化情况,修改原建模方案,重新建立了羽状流水体模型。通过正演模拟得到了羽状流炮集地震记录,单炮记录上显示出明显的散射波场特征和模型的周期特点。通过叠前深度偏移处理炮集地震记录,得到边界收敛效果较好的成像剖面,且成像精度较高。以上研究又一次奠定了羽状流地震响应进一步研究的基础,也逐步探索出更适合羽状流地震资料的处理方法,为识别羽状流提供了理论指导。 相似文献
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We develop and apply visualization and quantification methods to reconstruct hydrothermal plumes in 3D from acoustic images and to make the first direct measurements from the reconstructions of scalar properties that describe the behavior of two buoyant plumes discharging from adjacent black smoker chimneys. The actual behavior is then compared to that predicted by a classic simple buoyant plume model. The images are reconstructed as isointensity surfaces of backscatter from particulate matter suspended in the plumes. The measurements pertinent to the role of the plumes as agents of dispersal of heat and mass into the ocean include change with height of diameter, particle distribution, dilution, centerline attitude, surface protrusions, and connectivity. The protrusions are the surface expression of eddies and appear to follow a bifurcating helical flow pattern that resemble simulation of the naturally forced flow of coherent vortex rings as the eddies rise with the buoyant plume. These direct measurements and the derived entrainment coefficient are generally consistent with behavior predicted by the simple buoyant plume model and support engulfment by vortex shedding as a primary mechanism for entrainment of surrounding seawater. Deviations from predicted buoyant plume behavior are diagnostic of particle dynamics. 相似文献
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水下溢油数值模拟研究 总被引：1，自引：0，他引：1
基于Lagrange积分法和Lagrange粒子追踪法建立了一个水下溢油数值模型。该溢油模型由两个子模型组成:羽流动力模型和对流扩散模型,其中羽流动力模型用以模拟溢油的喷发阶段和浮力羽流阶段;对流扩散模型用以模拟溢油的对流扩散阶段。通过数值实验,结合实验室水槽实验和水下溢油现场实验的观测资料进行模型验证。实验结果表明,模拟结果与观测资料一致性较好,从而验证了本文溢油模型的合理性和准确性;羽流动力模型为对流扩散模型提供源,海流、海水的垂向密度结构和油滴的直径分布是影响溢油在对流扩散阶段运动和分布的主要因素。 相似文献
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论述了纵倾控制律设计及自航模试验。首先选择一系列深度,对同一深度采用频域校正法单独设计控制律,使之对不同的速度和漂角具有足够的稳态精度和抗干扰性,这些控制律被集成统一为纵倾控制器,并根据潜深变化进行切换,对于其它深度采用同样的方法设计。控制器首先通过计算机仿真,然后进行自航模试验验证。设计的纵倾控制系统同时在其他试验项目中(水下管线跟踪和动力定位)发挥了重要的作用。 相似文献
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Melanie Summit John A. Baross 《Deep Sea Research Part II: Topical Studies in Oceanography》1998,45(12):2751-2766
High-temperature microbes were present in two hydrothermal event plumes (EP96A and B) resulting from the February–March 1996 eruptions along the North Gorda Ridge. Anaerobic thermophiles were cultured from 17 of 22 plume samples at levels exceeding 200 organisms per liter; no thermophiles were cultured from any of 12 samples of background seawater. As these microorganisms grow at temperatures of 50–90°C, they could not have grown in the event plume and instead most probably derived from a subseafloor environment tapped by the event plume source fluids. Event plumes are thought to derive from a pre-existing subseafloor fluid reservoir, which implies that these thermophiles are members of a native subseafloor community that was present before the eruptive event. Thermophiles also were cultured from continuous chronic-style hydrothermal plumes in April 1996; these plumes may have formed from cooling lava piles. To better understand the nutritional, chemical, and physical constraints of pre-eruptive crustal environments, seven coccoidal isolates from the two event plumes were partially characterized. Results from nutritional and phylogenetic studies indicate that these thermophiles are heterotrophic archaea that represent new species, and probably a new genus, within the Thermococcales. 相似文献
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This paper presents a computational model of simulating a deep-sea hydrothermal plume based on a Lagrangian particle random walk algorithm. This model achieves the efficient process to calculate a numerical plume developed in a fluid-advected environment with the characteristics such as significant filament intermittency and significant plume meander due to flow variation with both time and location. Especially, this model addresses both non-buoyant and buoyant features of a deep-sea hydrothermal plume in three dimensions, which significantly challenge a strategy for tracing the deep-sea hydrothermal plume and localizing its source. This paper also systematically discusses stochastic initial and boundary conditions that are critical to generate a proper numerical plume. The developed model is a powerful tool to evaluate and optimize strategies for the tracking of a deep-sea hydrothermal plume via an autonomous underwater vehicle (AUV). 相似文献
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为明确高海况下海况等级对无人水下航行器横摇运动的影响,得出满足某型无人水下航行器安全回收的海况条件,对高海况下无人水下航行器的横摇运动进行分析。运用频率响应法,分别在4级、5级和6级海况下，根据海浪谱密度函数和该型航行器的横摇频率响应函数,求得其横摇运动谱密度函数。再运用公式推导,得到其横摇运动的时域函数。使用MATLAB仿真软件对该型航行器进行横摇运动仿真,得到3种海况条件下，其横摇运动的时域函数图像,并验证仿真结果的准确性。仿真结论:高海况下的海况等级对无人水下航行器的横摇幅度有较大影响,满足其安全回收的海况条件为5级海况。 相似文献
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A computational fluid dynamics (CFD) model was developed to simulate the turbulent flow and species transport of deep-sea high temperature hydrothermal plumes. The model solves numerically the density weighted unsteady Reynolds-averaged Navier–Stokes equations and energy equation and the species transport equation. Turbulent entrainment and mixing is modeled by a k–ε turbulence closure model. The CFD model explicitly considers realistic vent chimney geometry, vent exit fluid temperature and velocity, and background stratification. The model uses field measurements as model inputs and has been validated by field data. These measurements and data, including vent temperature and plume physical structure, were made in the ABE hydrothermal field of the Eastern Lau Spreading Center. A parametric sensitivity study based on this CFD model was conducted to determine the relative importance of vent exit velocity, background stratification, and chimney height on the mixing of vent fluid and seawater. The CFD model was also used to derive several important scalings that are relevant to understanding plume impact on the ocean. These scalings include maximum plume rise height, neutrally buoyant plume height, maximum plume induced turbulent diffusivity, and total plume vertically transported water mass flux. These scaling relationships can be used for constructing simplified 1-dimensional models of geochemistry and microbial activity in hydrothermal plumes. Simulation results show that the classical entrainment assumptions, typically invoked to describe hydrothermal plume transport, only apply up to the vertical level of ~0.6 times the maximum plume rise height. Below that level, the entrainment coefficient remains relatively constant (~0.15). Above that level, the plume flow consists of a pronounced lateral spreading flow, two branches of inward flow immediately above and below the lateral spreading, and recirculation flanking the plume cap region. Both turbulent kinetic energy and turbulence dissipation rate reach their maximum near the vent; however, turbulent viscosity attains its maximum near the plume top, indicating strong turbulent mixing in that region. The parametric study shows that near vent physical conditions, including chimney height and fluid exit velocity, influence plume mixing from the vent orifice to a distance of ~10 times the vent orifice diameter. Thus, physical parameters place a strong kinetic constraint on the chemical reactions occurring in the initial particle-forming zone of hydrothermal plumes. 相似文献