Combining the bidirectional long short-term memory neural network and temporal pattern attention mechanism, a machine learning model based on multi-feature inputs is developed to predict ship motion in irregular waves. An adaptive particle swarm optimisation algorithm is proposed to adapt the parameters of neural network to different feature inputs. The study indicates that the improved particle swarm optimisation algorithm avoids the problem of poor adaptability of empirical parameters to different advance time. The combination of bidirectional long short-term memory neural network and temporary pattern attention mechanism further enhances the data mining ability. Compared with the prediction mode solely based on the ship motion input, the inclusion of wave elevation input can effectively improve the accuracy and advance time for ship's motion prediction. Importantly, the prediction accuracy will improve with an increased number of inputs of wave probes, which are arranged along the wave propagation direction.
Estimating ice resistance and ship motion in ice-covered region is important for the planning of operations and transport routes. This paper proposes a numerical simulation method for predictions of ice loads and ship motions in level ice. The dynamic interaction between ship and level ice is considered on basis of nonlinear finite element method. Numerical simulations between level ice and a ship are carried out by LS-DYNA software. The ice material model which can simulate ice crushing and bending failure modes is used. To consider the net thrust during ship-ice interaction, the user-defined load subroutine LOADSETUD that provides a means to apply nodal loads as a function of velocity is used. In addition, the water effect on the level ice model is taken into account by using a nonlinear discrete spring model. The model tests of an icebreaker navigating in level ice is used to test the presented method. The predicted results including ice resistance, net thrust and attainable speeds for given ice conditions are compared with the model test data. The comparison shows a generally good agreement, which indicates that the presented method is able to give reasonable predictions. Furthermore, the comparison between the numerical results obtained by the rigid ship and the deformable ship is made. The ship structural response during ship-level ice interaction is investigated.
The fish pump is an important power component for aquaculture, especially in offshore engineering vessel aquaculture and cage aquaculture. Reducing fish damage, improving survival rate, and increasing fish-lifting efficiency are the key points of fish pump research. In this study, we took a new type of fluid multiplier fish pump as the research object and selected many performance parameters that affect the hydrodynamic perfor-mance of the model prototype of the fish pump. The main conclusions are as follows: the fluid multiplier fish pump body produced a flow rate 2.8-3.5 times higher than the water injection port in the jet gap area, and under the influence of the high-flow-rate area, the low-pressure area generated at the fish inlet amplified the flow at the entrance of the fish. As a result, the fluid multiplier fish pump was able to suck and lift fish. With the change in the water jet gap from 2 mm to 4 mm, the head and flow of the bladeless fish pump were improved to a certain extent. We achieved an optimal value for the runner inclination angle during the change of the inclination angle of the pump body surface from - 4 degrees to 4 degrees, and it reached the highest value when the inclination angle was 2 degrees. In the process of increasing the water injection opening of the pump body from 50 mm to 65 mm, the head and flow of the bladeless fish pump greatly increased. The flow when the water injection opening was 65 mm was approximately 1.71 times that when the water injection opening was 50 mm. The head when the water injection opening was 65 mm was approximately 1.42 times that when the water injection opening was 50 mm. When the length of the guide vane was between 4 and 6 mm, the increase and decrease in the flow rate of the bladeless fish pump approached the maximum value of merit. The fluid multiplier fish pump designed in this study featured the characteristics of simple and lightweight structure and high fish-lifting flow, which can reduce labour intensity and improve the catching efficiency of aquaculture fish.
. As the power source of the ship sailing, diesel engine will inevitably produce some thermal faults in the course of sailing, which will affect the stability of the ship sailing, so the diagnosis of thermal faults becomes very important. This paper uses Simulink software platform to simulate the thermal failure of diesel engine, and selects seven thermal parameters as the source of data set. The data set is input into LSTM neural network algorithm diagnosis model, several typical fault modes of diesel engine are output, and the data processing and image drawing are carried out in Matlab. Compared with other algorithms, LSTM neural network algorithm solves the long time dependence problem and has a high interpretation of the predicted data. The results show that the fault diagnosis model based on LSTM neural network algorithm can diagnose the diesel engine fault mode well.
通过AMESim和MATLAB/Simulink联合仿真的方法建立二次调节主动升沉补偿系统的仿真模型,模型加入了时变和非线性因素的影响,能较为真实地反映实际主动升沉补偿系统特性和实现各种控制策略.研究结果表明:采用具有双前馈补偿的串级PID闭环控制,提高了系统的升沉补偿精度;变量机构与二次元件斜盘配合的间隙等非线性因素会降低系统补偿精度;绞车的非线性摩擦力矩对补偿精度的影响较小.
针对科考船实验室通风系统的设计问题,以新型综合海洋科考船上的通用实验室作为研究对象,采用直接法和逻辑控制图对实验室风量、温度和压力等进行耦合设计,对温度、压力和风速进行计算分析,并与船舶试验测量数据进行对比验证.结果表明,将实验室压力作为逻辑控制的先决条件,并在此基础上对温度进行辅助调节才能更好地实现设计要求.
为了进一步提高基于深度学习的船舶目标检测技术的检测精度,在无锚框中心点检测算法基础上,提出一种结合空洞编码器和特征金字塔的改进中心点船舶检测算法.采用ResNeXt-50网络对船舶图像进行特征提取,引入基于空洞残差的空洞编码器(DE)增大32倍下采样特征图的感受野,生成覆盖多个目标尺度的特征图,并采用特征金字塔网络(FPN)进行上采样,在上采样过程中融合空洞编码器生成的32倍下采样特征图和原16倍、8倍和4倍下采样特征图,从而提取到更丰富的船舶特征信息,提升船舶检测效果.结果表明,改进算法对不同类型和不同尺度下的船舶检测平均精确率相比原算法具有较明显的提升,相比SSD和YOLOv3算法具有更高的精度优势.
不同工况下的船舶柴油机脱硝系统具有很强的非线性和时变性,常用的单一控制器难以准确控制,因此对船舶选择性催化还原(SCR)脱硝系统进行自适应控制研究尤为重要.从SCR的反应微分方程入手,建立船舶柴油机SCR脱硝系统的机理模型,并通过模型仿真的离线数据辨识建立不同工况下该系统的ARMAX模型;设计基于该模型的广义预测控制器以实现多工况的自适应控制.考虑到执行机构的使用寿命,加入区间约束算法,提出并设计带区间约束算法的广义预测控制(GPC)控制器.研究结果表明:与传统的GPC和模型预测控制(MPC)控制器相比,带区间约束的GPC控制器不仅能在变工况时保持较高的脱硝率,而且能显著减少执行器的动作次数,从而提高船舶柴油机SCR脱硝系统的.使用寿命.
针对新型客滚船上采用的槽型压筋板,利用非线性有限元软件ABAQUS中的risk算法对设置初始压制缺陷的槽型压筋板模型进行受压极限承载力计算.计算发现槽型压筋板中部与焊接扁钢的板边部分所受压屈曲极限承载力不同,因此将槽型压筋板分成2个部分进行研究.通过计算并利用MATLAB对数据回归分析后发现:对于槽型压筋板中间部分,随着槽型间距和压筋板长度的增加,线性屈曲压力减小,受压极限承载力减小,破坏时的最大挠度增加;随着厚度增加,线性屈曲压力和受压极限承载力增加较少,破坏时的最大挠度降低.针对槽型压筋板焊接扁钢的板边部分,缩短板边扁钢与旁边槽型的间距及提高焊接扁钢的腹板厚度均能提高压筋板板边的极限承载压力.设计中可通过在压筋板边焊接扁钢且增加扁钢尺寸或以焊接制造的方式增加槽型高度减小槽型间距,以提高压筋板的极限承载力.
为了实现复杂场景下无人船(USV)的实时、高精度、抗干扰运动控制,以欠驱动双推进差速无人船作为研究对象,基于三自由度无人船水动力模型设计非线性模型预测航迹跟踪控制器(NMPC),在考虑控制约束与状态约束的情况下,根据快速稳定航行的目标设计优化范式,引入多重打靶算法求解思想提升控制器求解速度;根据无人船航行时风、浪、流等环境干扰的特点,设计一种适用于复杂场景无人船控制的非线性干扰观测器(NDO),根据干扰观测结果对控制模型进行在线补偿,并通过仿真试验,验证了所提控制算法的精确性、实时性和抗干扰能力.
为了提高非球形颗粒垂直液压输送系统的效率和安全性,采用一种新型带切向射流入口的管道输送系统.基于计算流体力学-离散元法(CFD-DEM)耦合方法,采用改进的非球形曳力系数模型对液固两相流动特性进行分析.研究不同切向流动比例对不同形状颗粒浓度和曳力的影响.根据颗粒的浓度来衡量输送效率,依据颗粒的曳力来评估输送安全性.结果表明:在旋流作用下,不同形状颗粒之间的浓度间隙和轴向阻力间隙减小,颗粒浓度增大,各组分颗粒混合输送均匀.
基于智能水下机器人(AUV)导航任务需求与战略规划,总结国内外海底地形匹配导航技术研究现状,分析海底地形匹配导航系统应用中所需的关键技术及解决途径,包括滤波算法、地形特征提取和测深数据处理等.系统性归纳海底地形匹配导航的前沿方向,并结合我国的研究现状与发展需求展望海底地形匹配导航未来的发展方向,即发展高精度水下激光测距地形测绘设备、发展低分辨率先验海图下的海底地形匹配导航算法,以及通过深度学科交叉趋势提升海底地形匹配导航的精度、效率和鲁棒性.
无人机(UAV)能实现航迹跟踪、定位、遥控、航拍、数据传输等功能,其中航迹规划是实现所有功能的前提条件.结合多旋翼无人机在恒速飞行条件下的最大转弯半径,设计一种在一定曲率约束范围内的航迹规划算法,采用Dubins曲线和B样条曲线,分别对局部障碍物和区域障碍物进行分类避障规划,实现障碍物下不规则作业区域的航迹规划,并通过仿真试验验证了算法的可行性.
针对船用布风器因空间限制静压箱体积小导致布风器消声效果不理想的现象,采用计算流体力学与有限元仿真相结合的方法,对布风器内流道进行优化,减小布风器的流动阻力,降低布风器内产生的湍动能和气动噪声.同时,在布风器两侧湍动能相对较大的侧挡板上微穿孔,结合后面的空腔形成并联的亥姆霍兹共振器用于减小布风器的噪声.结果表明,改进后布风器的阻力损失降低8.27Pa,侧挡板微穿孔布风器在传递损失上增加4.8 dB,监测点最大声压级较原型降低15.1％.该研究可为船用布风器提供新的降噪思路.
邮轮投入使用后,主机废气由烟囱排出,排气噪声会向烟囱周围及公共甲板等噪声敏感区域辐射,从而严重影响旅客乘坐舒适性.以邮轮烟囱排气噪声为主导声源,建立大型邮轮及其开敞区域的噪声预报模型,采用声线法分析邮轮开敞区域的辐射噪声分布特征及强度,形成邮轮开敞区域空气辐射噪声预报的数值计算方法.结果表明:烟囱排气噪声辐射指向性是由邮轮烟囱为中心向四周呈现球面状传播,辐射强度与传播距离成反比,烟囱排气噪声对开敞区域辐射影响差异性明显,可从影响噪声衰减的因素切入,进而进行防控.研究所得的大型邮轮开敞区域辐射噪声特性及其数值预报方法,可为邮轮声学设计及噪声预报提供参考.
为了解决以双目视觉为主导的自主式水下机器人(AUV)对接回收过程中出现的单一摄像机遭受遮挡或因水下环境特殊而发生故障的问题,提出一种基于单双目切换的AUV视觉定位方法.该方法通过自适应阈值法区分图像中的光源与背景,通过中心加权质心检测法提取光源中心,并以光源中心点数量为判定条件选取单目或双目视觉定位,添加水体折射参数提高定位精度.试验结果显示,采用该方法的定位耗时相比以往减少约70％,定位结果输出稳定,对接精度在允许范围内.该方法在AUV回收对接过程中通过牺牲部分定位精度来提高对接的实时性和鲁棒性,保障AUV成功对接回收.
为了研究天然液化气(LNG)船对船过驳作业中拖轮对系统稳定性影响,指导过驳作业安全开展,基于三维势流理论的数值计算分析方法,利用加盖阻尼法在两船间添加驻波抑制单元以提高船舶水动力参数的计算精度,在与同类型试验结果比较验证后,进一步开展LNG船舶在海上锚泊过驳时采用不同拖轮配置方式下的船舶水动力性能以及过驳系统泊稳性能的研究.结果表明,风浪流作用于船首条件下,在受载船配置拖轮或在两船分别配置拖轮的方式可减小两船在船长方向相对运动以及艏摇运动的幅度,形成了快速预报不同配置场景下的船舶运动以及设备受力情况的方法.
在利用等效点电荷对舰船轴频电场换算时,存在着因等效源位置不够合理而造成误差较大的问题.通过目标船的船型系数与尺度比来确定等效源在各个方向上的布置位置和间距,并根据结构布置特点对目标船的各部分进行分区和分级,确定区域等级权值.有针对性地在各区域内调整等效源布置,提出基于船型与区域等级的等效源位置确定方法,并引入粒子群算法对计算模型进行优化.利用模型实验对所述方法的有效性进行检验,结果表明,基于船型与区域等级的等效源位置确定方法能够较精确地实现对轴频电场信号包络的模拟计算,经粒子群算法优化后误差进一步下降,为轴频电场的预测与仿真计算提供了新的途径.
以某型汽轮给水泵组轴系为研究对象,提出轴承对外传递力的计算方法.对比分析不同轴承支撑方案下轴系的振动特性及轴承对外传递力的特性,进行机组轴系支撑方案论证研究.结果表明:在汽轮机单侧和双侧支撑方案下,机组轴系均可在额定工况转速范围内安全可靠地运行;在额定转速下,采用单侧支撑方案的机组,其各轴承外传力大于采用双侧支撑方案的机组,但在3 000 r/min以下的低速工况时,2种方案下的机组轴承外传力基本一致,且单侧支撑下中间轴承的外传力更小.该结论对于该类型汽轮给水泵组的结构设计具有一定参考价值.
动力学相似是指当两系统的参数满足一定相关条件(相似准则)时,两系统动力学响应也会相似甚至成比例.相似模型试验源自流体力学中的无量纲参数及相似理论,工程师可利用缩比模型测试结果来预报实际结构的流体动力学特性.例如,通过在风洞中的模型测试预测实际飞行器的空气动力学特性,通过在拖曳池船模试验估算实际船舶阻力等.当前相似理论己拓展到结构动力学和声学领域,使工程上可利用缩比模型的测试结果去预报大型复杂结构的振动特性成为可能,不仅能大幅节省研究和试验成本,而且可显著提高理论分析和优化设计的效率.与流体相似不同的是,结构振动相似研究方法除了引入无量纲数外,还包括有量纲分析法、方程无量纲化法及波分析相似等.这些方法在理论分析上有各自的特点,在工程应用上有各自的优势和局限性.随着结构振动研发需求升级,相似原理逐步从全尺度缩比模型相似向畸变模型相似发展,这将进一步促进结构振动相似原理服务于大型复杂工程结构可靠性分析和安全性设计研究中.
