排序方式： 共有5条查询结果，搜索用时 15 毫秒
1
1.
A two-dimensional path following control system for autonomous marine surface vessels is presented. The guidance system is obtained through a way-point guidance scheme based on line-of-sight projection algorithm and the speed controller is achieved through state feedback linearization. A new approach concerning the calculation of a dynamic line-of-sight vector norm is presented which main idea is to improve the speed of the convergence of the vehicle to the desired path. The results obtained are compared with the traditional line-of-sight scheme. It is intended that the complete system will be tested and implemented in a model of the “Esso Osaka” tanker. The results of simulations are presented here showing the effectiveness of the system aiming in to be robust enough to perform tests either in tanks or lakes. 相似文献
2.
Collision and grounding are the most common accidents in ship operation. Some accidents are due to human failure, but several research projects have shown that a high percentage of these accidents could have been avoided if the ship have had better manoeuvrability characteristics. This paper describes how, when the shipyard select some important ship parameters and dimensions at the design stage, these set of parameters influence manoeuvrability characteristics. To obtain these effects, some IMO manoeuvres have been numerically simulated for a sample ship and a non-linear numerical model proposed by the authors to study ship manoeuvrability is described in this work. The day to day practice of a shipyard where fast modelisation and calculations are required, and modifications to the original design are quite common at the preliminary design stage, requires fast but accurate numerical models. 相似文献
3.
This paper presents a Recursive Neural Network (RNN) manoeuvring simulation model for surface ships. Inputs to the simulation are the orders of rudder angle and ship’s speed and also the recursive outputs velocities of sway and yaw. This model is used to test the capabilities of artificial neural networks in manoeuvring simulation of ships. Two manoeuvres are simulated: tactical circles and zigzags. The results between both simulations are compared in order to analyse the accuracy of the RNN. The simulations are performed for the Mariner hull. The data generated to train the network are obtained from a manoeuvrability model performing the simulation of different manoeuvring tests. The RNN proved to be a robust and accurate tool for manoeuvring simulation. 相似文献
4.
During the past 30 years there has been a steady growth in the size and number of ships that use the Strait of Istanbul (Bosporus) which is one of the most hazardous, crowded, difficult and potentially dangerous waterways in the world. There have been over 200 accidents over the past decade resulting in loss of life and serious damage to the environment. This paper presents the results of a real-time ship manoeuvring simulation study investigating the manoeuvring performance of large tankers in the Bosporus. The study was conducted with a ship manoeuvring simulator which is capable of subjecting a given hull form to any combination of environmental conditions, i.e. wind, current and wave drift forces. The results indicate that when realistic environmental conditions are taken into account the size of ships which can navigate safely in compliance with the traffic separation lanes is limited. 相似文献
5.
In this work a method for estimating parameters of practical ship manoeuvring models based on the combination of RANSE computations and System Identification procedure is investigated, considering as test case a rather slender twin screw and two rudders ship. The approach consists in the estimation of the hydrodynamic coefficients applying System Identification to a set of free running manoeuvres obtained from an in-house unsteady RANS equations solver, which substitute the usually adopted experimental tests at model or full scale. In this alternative procedure the numerical quasi-trials (in terms of kinematic parameters time histories and, if needed, forces time histories) are used as input for the System Identification procedure; the aim of this approach is to reduce external disturbances that, if not properly considered in the mathematical model, may compromise the identification results, or at least amplify the well-known “cancellation effects”. Furthermore, the CFD results provide information both in terms of flow field variables and hydrodynamic forces on the manoeuvring ship. These data may be adopted for a better understanding of the complex flow during manoeuvres, especially at stern, providing also additional information about the interaction between the various appendages (including rudders) and the hull. The identification procedure is based on an off-line genetic algorithm used for minimizing the discrepancy between the reference manoeuvres from CFD and those simulated with the system based modular model. The discrepancy was measured considering different metric functions and simplified formulations which consider only the main macroscopic parameters of the manoeuvre; the metrics have been analyzed in terms of their capability in reproducing the time histories and in limiting the cancellation effect of the hydrodynamic derivatives. 相似文献
1