简介:Toprovideasimulationsystemplatformfordesigninganddebuggingasmallautonomousunderwatervehicle’s(AUV)motioncontroller,asix-degreeoffreedom(6-DOF)dynamicmodelforAUVcontrolledbythrusterandfinswithappendagesisexamined.Basedonthedynamicmodel,asimulationsystemfortheAUV’smotionisestablished.ThedifferentkindsoftypicalmotionsaresimulatedtoanalyzethemotionperformanceandthemaneuverabilityoftheAUV.InordertoevaluatetheinfluencesofappendagesonthemotionperformanceoftheAUV,simulationsoftheAUVwithandwithoutappendagesareperformedandcompared.TheresultsdemonstratetheAUVhasgoodmaneuverabilitywithandwithoutappendages.
简介:针对沉垫自升式平台在下放过程中四角系有锚链且处于漂浮状态,在风、浪、流的作用下会产生六个自由度的运动响应,若响应过大,会影响平台的正常安装甚至危及平台安全。采用三维势流理论和Morison公式,运用大型水动力计算分析软件SESAM,分别在频域和时域范围内对平台就位过程的运动响应进行了分析,并通过锚链的张力时历曲线对锚链的强度进行校核。结果表明,波浪的入射角和周期对平台运动有很大的影响,且纵摇和横摇对波浪的入射方向更加敏感,时域范围内考虑平台和锚链耦合作用影响下平台的运动响应和频域范围内短期预报的最大值相差不多,平台在此工况下具有良好的运动性能,在频域和时域范围内平台的运动均满足施工要求,锚链受到的张力符合强度要求。
简介:Inordertominimizetheharmcausedbytheinstabilityofaplaningcraft,amotionpredictionmodelisessential.ThispaperanalyzedthefeasibilityofusinganMGM(1,N)modelingreysystemtheorytopredictplaningcraftmotionandcarriedoutthenumericalsimulationexperiment.Accordingtothecharacteristicsofplaningcraftmotion,arecurrenceformulawasproposedoftheparametermatrixofanMGM(1,N)model.Usingthisformula,datacanbeupdatedinreal-timewithoutincreasingcomputationalcomplexitysignificantly.TheresultsofnumericalsimulationshowthatusinganMGM(1,N)modeltopredictplaningmotionisfeasibleandusefulforprediction.Sothemethodproposedinthisstudycanreflecttheplaningcraftmotionmechanismsuccessfully,andhasrationalandeffectivefunctionsofforecastingandanalyzingtrends.