Robust adaptive control of underactuated ships on a linear course with comfort     

K. D. Do  J. Pan  Z. P. Jiang   《Ocean Engineering》2003,30(17):2201-2225

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.  相似文献   

Wave-Current Forces on Vertical Cylinders in Side-by-Side Arrangement for Irregular Waves Combined With Opposing Current     

Li Yucheng Wang Fenglong Professor  Dalian University of Technology  Dalian Senior Engineer  Dalian University of Technology  Dalian 《中国海洋工程》1993,(1)

- The wave-current forces on vertical piles in side-by-side arrangement induced by irregular waves with opposing current are investigated experimentally in this paper. The characteristics in both time and frequency domain of in-line, lift and resultant forces are analyzed. The grouping effect coefficients of inline, lift and resultant forces on piles related to KC number and relative spacing parameters are given. These results are compared with those in the case of irregular waves combined with following currents. It is found that the results in these two cases are quite different. The range of KC number tested is 10- 60, the range of Reynolds number is (0.55-3.43) ×104.  相似文献   

Semi-Probabilistic Evaluation of System Redundancy for Existing Offshore Structures     

Zhang Shengkun Chen Kaisheng Mu Yang Professor 《中国海洋工程》1995,(1)

In this paper, a new definition of structure system redundancy is proposed in view of the various measures for structure redundancy. By introducing the terms of structure system failure at the mechanism level and equivalent reliability index, the safety for existing offshore platforms can be evaluated by the semi-probabilistic method presented in this paper. Some numerical examples are given and satisfactory results have been obtained.  相似文献   

Wave Loads and Protective Techniques of An On-Shore Wave Power Device     

You Yage YuZhi Associated Professor  Guangzhou Institute of Energy Conversion  Chinese Academy of Sciences  Guangzhou . Professor  Guangzhou Institute of Energy Conversion  Chinese Academy of Sciences  Guangzhou 《中国海洋工程》1995,(4)

In this paper, the extreme wave loads on an on-shore wave power device are investigated. First, boundary element method is applied to solve the three dimensional potential problem based on the small amplitude wave assumption. Then the motion of the Oscillating Water Column (OWC) inside the device and its laods on the device are calculated in time domain. Several protective techniques often applied are simulated by changing the constraint of the upper end of the chamber of the device. Numerical results are used to judge the effectiveness of these techniques. The investigation shows that damping can not effectively restrain the motion of OWC when the period of incident wave is long, which may cause dangerous loads on the structure. The shut chamber can effectively restrain the motion of OWC, but alternatively cause high pressure in the chamber. A Contracting opening with a Taper (CT) can exhaust a great amount of kinetic energy of OWC, and significantly decrease the loads. It is a promising protective tec  相似文献   

Behavior of Pile Groups under Lateral Load   总被引：2，自引：0，他引：2  

Yang Keji  Li Qixin Wang Fuyuan Associate Proferssor  Hehai University  Nanjing Engineer  Hehai University  Nanjing 《中国海洋工程》1991,(2)

Based on investigation and model tests, and in combination with the research work on group effect for pile groups under lateral loads relating to the code of fixed offshore platforms, a series of studies have been performed on the behavior and failure mechanism of laterally loaded pile groups, critical pile spacing inducing group effect, lateral bearing capacity of pile groups and its main influence factors, the stress-strain relationship for single piles and pile groups and so on. Some new laws about non-uniformity of load distribution in the longitudinal direction of pile groups and load-deflection (p - y) curves for pile groups have been discovered, and an empirical formula is presented in order to remedy the defect of current calculating methods at home and abroad. These results can be used for reference in the design of pile foundation under lateral loads.  相似文献   

分潮波模型多资料数值计算方法研究　Ⅱ.有限差分最小二乘方法     

潘文波  孙文心  王骥 《中国海洋大学学报(自然科学版)》1996,(2)

对含多资料的分潮波模型的超定问题进行探讨，建立一种有限差分—最小二乘方法，该方法使得岸边资料直接进入了计算方程，并保证岸界法向流速为零条件。通过对渤海的四大分潮的试算，证实本方法可行。  相似文献   

Numerical and simplified methods for the calculation of the total horizontal wave force on a perforated caisson with a top cover     

Xuefeng Chen  Yucheng Li  Bin Teng 《Coastal Engineering》2007

The VOF method and the k–ε model, combined with the equation of state of air at constant temperature, have been used to calculate the total horizontal wave force caused by monochromatic waves acting on a perforated caisson with a top cover. From comparison of various parameters, such as the total horizontal force, the pressure difference on the front wall, the pressure on the back wall and the pressure on the top cover, between the numerical results and test data, it can be seen that the numerical results agree well with the test data. It is concluded that the method described in this paper can be utilized to calculate wave forces acting on perforated caissons with a top cover in the case of nonovertopping, nonbreaking waves. A simplified method to calculate the total horizontal force has been developed, based on test data, using a least-squares method. A comparison between the numerical results and the values calculated from the simplified equations shows good agreement. Therefore the simplified equations can be used in engineering applications to evaluate the total horizontal force on a perforated caisson with a top cover.  相似文献   

Wave-Current Forces on Small Square Cylinders (Part I)     

Li Yucheng  He Ming Professor  Dalian University of Technology  Dalian Former master student  Dalian University of Technology  Dalian 《中国海洋工程》1994,(3)

-Based on the extended Morison Equation and model tests, the in-line forces on small square cylinders caused by waves (regular and irregular) and currents are analyzed in detail in this paper. The hydrodynamic coefficient CD and Cu related to KC number and the effect of direction of wave incidence are also given, which can be used in engineering practice.  相似文献   

Impact Buckling and Post-Buckling of Elasto-Viscoplastic Cylindrical Shell Under Torsion     

Wang Deyu Chen Tieyun Associate Professor 《中国海洋工程》1997,(1)

The dynamic torsional buckling and post-buckling of elasto-plastic circular cylindrical shell isstudied.By the usage of the Bodner-Partom constitutive relation,the present visco-plastic problem is treat-ed as an orthotropic elastic problem.Based on the nonlinear large deflection shell therory,the governingdynamic buckling equation is solved by the Runge-Kutta method,and the critical buckling stress is deter-mined by the B-R criterion.The present paper is mainly focused on the imperfection sensitivity,the strainrate sensitivity,and the dynamic post-buckling characters for the shell loaded dynamically with a constantshear strain rate.Numerical results show that the critical shear stress and imperfection sensitivity will in-crease with the increase of strain rate.It is found that the elastic buckling stress is more sensitive toimperfection than the visco-plastic buckling.The present research also reveals some dynamic post-bucklingcharacters for the cylindrical shell,and it is shown that the shell will vibra  相似文献   

Research on Characteristics of Density Current Under the Action of Waves     

Li Dashan  Shen Ying  Ren Rushu Chen Yao Senior Engineer  River  Harbour Department  Nanjing Hydraulic Research Institute  Nanjing Engineer  River  Harbour Department  Nanjing Hydraulic Research Institute  Nanjing Associate Professor  Hohai University  Nanjing Master  Hohai University  Nanjing 《中国海洋工程》1997,(1)

In this paper,the characteristics of density current under the action of waves are describedwith the help of flume experiment and theoretical analysis.The study shows that turbid water under the ac-tion of the waves can present three types of motion,i.e.significant stratification,fragile stratification andstrong mixing.The motion of turbid water presents significant stratification when(H/D)/△ρ/ρ~(1/2)≤4.5,generally this state is known as density current.The formulas of motionvelocity,thickness,and discharge of density current moving on horizontal bottom are derived by use of ba-sic equations such as momemtum equation,equation of energy conservation and continuity equation offluid.The time-average velocity and the thickness of density current under the action of waves have a rela-tionship with such parameters as relative density(△ρ/ρ),wave height(H),and water depth(D).Whenthese parameters are determined,the time-average thickness and motion velocity of density current are al-so determined.The relat  相似文献