水下机器人主动升沉补偿系统研究   总被引：2，自引：1，他引：2  

杨文林  张竺英  张艾群 《海洋工程》2007,25(3):68-72

介绍一种基于水下机器人常规液压收放绞车的主动升沉补偿系统,利用加速度传感器获得母船的升沉运动信号,控制绞车的运转来降低母船的升沉运动对水下机器人的影响。通过理论计算建立主动升沉补偿系统的数学模型,仿真分析绞车运动对水下机器人升沉运动的补偿效果,并利用主动升沉补偿系统实验台验证基于常规液压收放绞车的主动升沉补偿方案的可行性。  相似文献   

A Geometrically Exact Formulation for Three-Dimensional Numerical Simulation of the Umbilical Cable in A Deep-Sea ROV System     

全伟才  张竺英  张艾群  张奇峰  田宇 《海洋工程》2015,29(2):223-240

This paper proposes a geometrically exact formulation for three-dimensional static and dynamic analyses of the umbilical cable in a deep-sea remotely operated vehicle (ROV) system. The presented formulation takes account of the geometric nonlinearities of large displacement, effects of axial load and bending stiffness for modeling of slack cables. The resulting nonlinear second-order governing equations are discretized spatially by the finite element method and solved temporally by the generalized- implicit time integration algorithm, which is adapted to the case of varying coefficient matrices. The ability to consider three-dimensional union action of ocean current and ship heave motion upon the umbilical cable is the key feature of this analysis. The presented formulation is firstly validated, and then three numerical examples for the umbilical cable in a deep-sea ROV system are demonstrated and discussed, including the steady configurations only under the action of depth-dependent ocean current, the dynamic responses in the case of the only ship heave motion, and in the case of the combined action of the ship heave motion and ocean current.  相似文献   

鳗鱼生长与气象关系初探     

骆月珍  王江明  张竺英 《浙江气象》1995,(1)

鳗鱼,也称鳗鲡,白鳝,河鳗,是一种营养成份丰富、经济价值很高的世界性养殖鱼类品种,属于典型的过河口性洄游鱼类。鳗鱼性凶,贪食好动,喜流水、喜弱光,喜温暖,喜穴居等习性,对恶劣环境有很强的适应性。我国目前养殖的品种主要是日本鳗和花鳗。由于天然水域成鳗捕获量远远不能满足市场需要,而鳗苗人工育苗迄今未能过关,因此,目前国内外在鳗鱼养殖上一直利用捕捞天然鳗苗进行人工放养。杭州市水产研究所从1987年开始进行天然捕捞鳗苗的室内鳗池养殖试验和试生产,经几年的人工放养,取得了很好的经济效益。  相似文献   

A Geometrically Exact Formulation for Three-Dimensional Numerical Simulation of the Umbilical Cable in A Deep-Sea ROV System     

全伟才  张竺英  张艾群  张奇峰  田宇 《中国海洋工程》2015,(2):223-240

This paper proposes a geometrically exact formulation for three-dimensional static and dynamic analyses of the umbilical cable in a deep-sea remotely operated vehicle(ROV) system. The presented formulation takes account of the geometric nonlinearities of large displacement, effects of axial load and bending stiffness for modeling of slack cables. The resulting nonlinear second-order governing equations are discretized spatially by the finite element method and solved temporally by the generalized-a implicit time integration algorithm, which is adapted to the case of varying coefficient matrices. The ability to consider three-dimensional union action of ocean current and ship heave motion upon the umbilical cable is the key feature of this analysis. The presented formulation is firstly validated, and then three numerical examples for the umbilical cable in a deep-sea ROV system are demonstrated and discussed, including the steady configurations only under the action of depth-dependent ocean current, the dynamic responses in the case of the only ship heave motion, and in the case of the combined action of the ship heave motion and ocean current.  相似文献