Dynamics and control of a towed underwater vehicle system, part I: model development     

B. Buckham  M. Nahon  M. Seto  X. Zhao  C. Lambert 《Ocean Engineering》2003,30(4):82-470

Autonomous vehicles are being developed to replace the conventional, manned surface vehicles that tow mine hunting towed platforms. While a wide body of work exists that describes numerical models of towed systems, they usually include relatively simple models of the towed bodies and neglect the dynamics of the towing vehicle. For systems in which the mass of the towing vehicle is comparable to that of the towed vehicle, it becomes important to consider the dynamics of both vehicles. In this work, we describe the development of a numerical model that accurately captures the dynamics of these new mine hunting systems. We use a lumped mass approximation for the towcable and couple this model to non-linear numerical models of an autonomous surface vehicle and an actively controlled towfish. Within the dynamics models of the two vehicles, we include non-linear controllers to allow accurate maneuvering of the towed system.  相似文献   

A thermal centroid or a mass centroid?     

Mingqiang Fang 《Journal of Oceanography》2006,62(5):759-766

This study reveals the physical backgrounds of the geometric centroid and the thermal centroid of the Western Pacific Warm Pool (WPWP) and points out their differences. The geometric centroid (actually a very close approximation to the mass centroid) anomaly of the surface WPWP correlates more closely with the Niño-3 region sea surface temperature anomaly (Niño-3 SSTA, an important indicator of El Niño/La Niña events) than the surface thermal centroid. Taking the WPWP depth (or heat storage) into account, the “real” mass or thermal centroid of the WPWP might correlate better with the El Niño/Southern Oscillation (ENSO) signals.  相似文献   

长期非平稳荷载调谐质量减振阻尼器优化设计     

李华军  陆建辉  嵇春艳 《中国海洋大学学报(自然科学版)》2002,32(3):489-494

研究外荷载为长期非平稳随机过程。考虑长期荷载的特性 ,采用 1个概率谱密度函数来反映长期非平稳随机荷载及其特征 ;概率谱密度函数是基于大量的一般谱密度函数的统计特性获得。以延长结构的抗疲劳使用寿命为目标函数 ,提出了调谐质量减振阻尼器的优化设计方法 ,这在实际工程中有着极为广阔的应用前景。本文旨在从理论上发展长期非平稳随机荷载作用下调谐质量减振阻尼器的优化设计方法 ;文中采用长期波浪实测数据 ,给出了 1个数值算例说明整个设计过程。  相似文献   

烟威及石岛近海春季水团分析     

郑东  张瑞安 《中国海洋大学学报(自然科学版)》1989,(Z1)

本文使用1960—1980年春季的水文资料,以温度和盐度作为主要指标,根据聚类分析逼近温盐图解,结合对该海域地理环境特征的分析,对烟台、威海及石岛近海春季的水团结构演变及其和渔场、渔期的关系进行综合分析。结果表明,北黄海及青岛外海的冷水团,以及黄海暖水团的强度与位置的变动,对春季渔期的早迟以及渔场位置的变动,都有很大的影响。  相似文献   

应用Argo资料分析西北太平洋冬、夏季水团   总被引：1，自引：0，他引：1  

孙朝辉  刘增宏  童明荣  朱伯康  许建平 《海洋学研究》2007,25(3):1-13

应用Argo剖面浮标观测的温、盐度资料,分析了西北太平洋海域冬、夏季的温、盐度分布、水团结构及其分布。首先采用T-S点聚图法分析了该海域水团分布的基本情况,由点聚分析结果可知,该海域至少存在6种以上水团;再用模糊聚类软化法对水团作进一步划分,分别计算了该海域6至11类水团的F和△F值,结果表明,冬、夏季的△F值都以划分为8类时为最大,这与大洋水团的稳定性是一致的,因此,该海域冬、夏季水团以划分为8类最佳,它们分别是北太平洋热带表层水、北太平洋次表层水、北太平洋中层水、北太平洋副热带模态水、北太平洋深层水和赤道表层水,以及南太平洋次表层水和南太平洋中层水。  相似文献   

An experimental method for determining the frequency-dependent added mass and added mass moment of inertia for a floating body in heave and pitch motions     

Jong-Shyong Wu  Mang Hsieh   《Ocean Engineering》2001,28(4):528

Most of the existing relevant materials have been obtained from experiments, in which evaluating the added mass at the resonant frequency corresponding to the peak of a frequency-response curve obtained from the “forced” vibration analysis is the most popular technique. In this paper, a simple experimental method was presented where the “free” vibration responses instead of the “forced” ones were used to determine the values of m_ah and I_ap. The main part of the experimental system is composed of a floating body (model) and a spring–shaft shaker. The “free” vibration of this main part was induced by imposing on it an initial displacement (and/or an initial velocity), and from the time histories of displacements information such as the “damped” natural frequencies, damping ratios, sectional added mass coefficients (C_V and C_P) were obtained. Since the displacements of the spring–shaft shaker are “translational” and those of the floating body due to pitch motions are “angular”, a technique for the transformation between the associated parameters of the two components of the main part was presented.  相似文献   

Water mass formation variability in the intermediate layer of the east sea     

Hong Sik Min  Cheol -Ho Kim 《Ocean Science Journal》2006,41(4):255-260

Long-term variability in the intermediate layer of the eastern Japan Basin has been investigated to understand the variability of water mass formation in the East Sea. The simultaneous decrease of temperature at shallower depths and oxygen increasing at deeper depths in the intermediate layer took place in the late 1960’s and the mid-1980’s. Records of winter sea surface temperatures and air temperatures showed that there were cold winters that persisted for several years during those periods. Therefore, it was assumed that a large amount of newly-formed water was supplied to the intermediate layer during those cold winters. Close analysis suggests that the formation of the Upper Portion of Proper Water occurred in the late 1960’s and the Central Water in the mid-1980’s.  相似文献   

WATER MASS FORMATION IN THE SOUTH INDIAN OCEAN BY AIR-SEA FLUXES     

Ming Feng 《热带海洋学报》2004,23(6):16-21

1Introduction　TheIndianCentralWater (ICW) ,formedandsubductedintheSubtropicalConvergenceintheSouthIndianOcean ,occupiesasignificantportionofthethermoclineintheIndianOcean[1,2 ]　 (Fig .1 ) .TheSubantarcticModeWater(SAMW)isformedinthe 2 6.5-2 7.1σθrangenorthoftheSub antarcticFront—thesouthernboundaryofthesubtropicalgyres[3]　 .InthesoutheastIndianO cean ,theSAMWisthethickest,ventilatedasathicklayerofhighoxygenextendingtothetropicalIndianOcean[4 ,5 ]　 .　Watermasstransformation…  相似文献   

The Structure of A Turbulent Jet in A Crossflow-Effect of Jet-Crossflow Velocity     

李行伟  匡翠萍  陈国谦 《中国海洋工程》2002,(1)

A comprehensive numerical study on the three-dimensional structure of a turbulent jet in crossflow is performed. The jet-to-crossflow velocity ratio (R) varies in the range of 2 - 16; both vertical jets and inclined jets without excess streamwise momentum are considered. The numerical results of the Standard two-equation k-ε model show that the turbulent structure can be broadly categorised according to the jet-to-crossflow velocity ratio. For strong to moderate jet discharges, i.e. R> 4, the jet is characterized by a longitudinal transition through a bent-over phase during which the jet becomes almost parallel with the main freestream, to a sectional vortex-pair flow with double concentration maxima; the computed flow details and scalar mixing characteristics can be described by self-similar relations beyond a dimensionless distance of around 20-60. The similarity coefficients are only weakly dependent on R. The cross-section scalar field is kidney-shaped and bifurcated, vvith distinct double concentr  相似文献   

南海北部及巴士海峡附近的水团分析   总被引：4，自引：0，他引：4  

田天  魏皓 《中国海洋大学学报(自然科学版)》2005,35(1):9-12,28

为解释黑潮水进入南海的方式 ,通过对 2 0 0 2年 5月 2 9日～ 6月 6日在南海及巴士海峡附近太平洋海域观测所得的资料进行水团分析 ,以四边形水团定量分析方法得到各水团在海区内的分布状况 ,同时分析了温度、盐度、密度和溶解氧的分布 ,并对在相同深度层次上的南海水和黑潮水性质进行了比较。观测海域的水团分为表层水团 (SW ) ,次表层水团 (SSW ) ,中层水团 (IW )和深层水团 (DW ) ,分别处于 0～ 5 0m ,5 0～ 3 0 0m ,40 0～ 10 0 0m ,10 0 0m以深。黑潮水进入南海 ,但是势力较弱 ,未能越过 119.5°E深入南海。  相似文献