基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制   总被引：2，自引：0，他引：2  

黄道敏  徐瑞昆  唐国元  冯雷  刘智  徐国华 《海洋工程》2018,36(6):69-76

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。  相似文献   

利用地震矩张量反演鲜水河断裂带现今运动学特征     

孙建中  施顺英  周硕愚  张爱华 《大地测量与地球动力学》1994,(4)

本文探讨了利用地震矩反演断裂形变带运动学参数的基本理论和方法，将其初步应用于鲜水河断裂形变带变形分析和运动机制的研究。结果表明，鲜水河断裂带呈现出走向拉伸、倾向压缩的形变格局，由地震矩反演的断裂带剪切形变速率（１０．９ｍｍ／ａ）与用地质学估算方法（１７ｍｍ／ａ）和现今地壳形变测量（８ｍｍ／ａ）的结果相当。同时，反演出的应变主方向能解释鲜水河断裂现今活动分段性特征以及多种滑动方式共存的现状，从而证明该方法是目前研究区域运动学问题切实有效的手段之一。  相似文献   

Source mechanism of mining induced seismic events — Resolution of double couple and non double couple models     

Jan &#x;ílený  Alexander Milev 《Tectonophysics》2008,456(1-2):3

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深水风浪的平均波长与平均周期的关系     

吕红民  徐德伦 《海洋学报》1999,21(5):31-37

在Gaussian波场基础上,推导出以P-M谱和平均JONSWAP谱代表的充分成长和有限风区的深水风浪平均波长与平均波周期之间的关系为.推导中运用了Rice跨零点问题的解并通过滑动时间平均技术估计4阶谱矩.在风浪水槽进行了实验,实验结果与有限风区下推导出的关系相比较,符合较好.  相似文献   

Probabilistic Models for the Probability of Wave Breaking and Whitecap Coverage Based on Kinematic Breaking Criterion     

郑桂珍  徐德伦 《中国海洋工程》2004,18(3):357-370

More and more researches show that neither the critical downward acceleration nor the critical slope of water waves is a universal constant. On the contrary, they vary with particular wave conditions. This fact moders the models either for the probability of wave breaking B or for the whitecap coverage W based on these criteria difficult to apply. In this paper and the one which follows we seek to develop models for the prediction of both B and W based on the kinematical criterion. First, several joint probabihstic distribution functions (PDFs) of wave characteristics are derived, based on which the breaking properties B and W are estimated. The estimation is made on the assumption that a wave breaks ff the horizontal velocity of water particles at its crest exceeds the local wave celerity, and whitecapping occurs in regions of fluid where water particles travel faster than the waves. The consequent B and W depend on wave spectral moments of orders 0 to 4.Then the JONSWAP spectrum is used to represent the fetch-limited sea waves in deep water, so as to relate the probahility of wave breaking and the whitecap coverage with wind parameters. To this end, the time-averaging technique proposed by Glazman (1986) is applied to the estimation of the spectral moments involved, and furthermore, the theoretical models are compared with available observations collected from published literature. From the comparison, the averaging time scale is determined. The final models show that the probability of wave breaking as well as the whitecap coverage depends on the dimensionless fetch. The agreement between these models and the database is reasonable.  相似文献   

关于修改港工钢筋混凝土规范小偏心受压构件正截面强度计算的建议     

王清湘 《海洋工程》1995,(2)

本文提出在小偏心受压构件正截面强度计算中，取消弯曲抗压强度ｆｃｍ（Ｒｗ），采用轴心抗压强度ｆｃ，这与构件的实际破坏形态相符。对小偏心受压构件正截面强度计算提出了设计建议。特别是对工程上大量应用的矩形截面对称配筋小偏压构件提示了简捷的设计方法，与以往的近似计算方法相比具有物理概念明确，精度高，方法简捷的特点。  相似文献   

Calculation of transverse hydrodynamic coefficients using computational fluid dynamic approach   总被引：1，自引：0，他引：1  

Amit Tyagi  Debabrata Sen 《Ocean Engineering》2006,33(5-6):798-809

Computational Fluid Dynamic (CFD) based on Reynolds Averaged Navier–Stokes equation is used for determining the transverse hydrodynamic damping force and moment coefficients that are needed in the maneuverability study of marine vehicles. Computations are performed for two geometrical shapes representing typical AUVs presently in use. Results are compared with available data on similar geometries and from some of the available semi-empirical relations. It is found that the CFD predictions compares reasonable well with these results. In particular, the CFD predictions of forces and moments are found to be nonlinear with respect to the transverse velocity, and therefore both linear and nonlinear coefficients can be derived. A discussion on the sources of the component forces reveal that the total force and moment variations should in fact be nonlinear.  相似文献   

Evaluation of bending moments and shear forces at unit connections of very large floating structures using hydroelastic and rigid body analyses   总被引：1，自引：0，他引：1  

Byoung Wan Kim  Sa Young Hong  Jo Hyun Kyoung  Seok Kyu Cho 《Ocean Engineering》2007,34(11-12):1668-1679

This paper investigates the characteristics of bending moments, shear forces and stresses at unit connections of very large floating structures (VLFS) under wave loads. The responses of VLFS are calculated by solving multi-body motion equation considering hydroelasticity and connection stiffness. Hydroelastic responses are calculated by the direct method. Higher-order boundary element method (HOBEM) is used for fluid analysis and finite element method (FEM) is introduced for structural analysis. The equation of motion is modified to describe the unit connections by employing spring elements. Bending moments and shear forces at the connections are obtained from the dynamic equilibrium condition for pressures and inertia forces. Two types of VLFS units such as tandem arranged units and side-by-side arranged units are considered in the numerical examples. The influences of connection stiffness, wave frequency and heading angle on responses of VLFS are investigated through the numerical examples. Rigid body analysis along with hydroelastic analysis is also carried out in the numerical analysis and comparison of those two approaches is discussed.  相似文献   

Strength Analysis of Turret Mooring Productive/Storage Tanker     

Zhang Shilian Jin Dexian Associate Professor 《中国海洋工程》1997,(3)

The longitudinal strength of turret mooring productive/storage tanker is studied.A numeri-cal example has been implemented according to the method presented in this paper to give practical il-lustration.From the results of the numerical example,it is concluded that the turret hole located near theforward of the amidships has small effect on the longitudinal strength of the ship hull.As for design ex-treme value of wave bending moment of storage tanker,statistic method is a more reasonablemethodology,especially with the consideration of the servere environmental conditions.The primary esti-mation of design section modulus of turret storage tanker can be determined by this design bending mo-ment.  相似文献   

Relationship between the seismicity and geologic structure of the Blanco Transform Fault Zone     

Robert P. Dziak  Christopher G. Fox  Robert W. Embley 《Marine Geophysical Researches》1991,13(3):203-208

Morphologic studies of an oceanic transform, the Blanco Transform Fault Zone (BTFZ), have shown it to consist of a series of extensional basins that offset the major strike-slip faults. The largest of the extensional basins, the Cascadia Depression, effectively divides the transform into a northwest segment, composed of several relatively short strike-slip faults, and a southeast segment dominated by fewer, longer faults. The regional seismicity distribution (m _b 4.0) and frequency-magnitude relationships (b-values) of the BTFZ show that the largest magnitude events are located on the southeast segment. Furthermore, estimates of the cumulative seismic moment release and seismic moment release rate along the southeast segment are significantly greater than that of the northwest segment. These observations suggest that slip along the southeast segment is accommodated by a greater number of large magnitude earthquakes. Comparison of the seismic moment rate, derived from empirical estimates, with the seismic moment rate determined from plate motion constraints suggests a difference in the seismic coupling strength between the segments. This difference in coupling may partially explain the disparity in earthquake size distribution. However, the results appear to confirm the relation between earthquake size and fault length, observed along continental strike-slip faults, for this oceanic transform.  相似文献