固定码头船舶系泊自动化系统初探

传统的船舶停靠码头都是通过缆绳系泊方式实现的,缆绳系泊固定码头受潮差影响比较大,需要通过派遣值班人员来收放缆绳以保证船舶的稳定,增加了值班人员的工作强度。基于船舶系泊在固定码头的复杂因素而导致的各种问题,设计一套由智能微电脑(单片机)进行检测和监控的自动化系泊系统。通过此系统可以对船舶在码头系泊受到影响时完成自动化控制,节省人力资源并且可以对船舶进行精准控制,根据船舶系泊在码头受到潮差、风、浪、流等因素影响会发生升沉、回转、纵移、横移的现象,对单片机进行编程使其可以通过判断船舶的具体状态,从而控制电机的正转反转来对缆绳进行收放,最终完成对船舶在码头系泊状态下的全程自动化控制。     

虚拟样机技术在FPSO系泊力监测系统设计中的应用

针对难以直接测量FPSO软刚臂系泊系统受力的问题,在对软刚臂系泊系统运动特性进行分析的基础上,提出基于姿态响应的系泊力间接测量方案,通过测量系统角度变化计算系泊力.用Adams建立系泊系统虚拟样机模型,将通过角度变化计算得到的系泊力与仿真得到的系泊力进行对比,两者吻合较好,验证设计方案的正确性.通过在FPSO现场的实施证明测量方案的可行性.     

多浮筒系泊系统计算软件设计

设计一种计算多浮筒系泊系统的迭代算法。根据海洋工程应用特点,基于C语言设计多浮筒系泊系统悬链线姿态曲线计算软件。以Armadillo线性代数库等为基础搭建开发环境,设计软件结构,进行系统模块功能分配。该软件具有人机界面友好、算法易收敛、计算速度快、输入输出设定方便等优点。实验验证了软件计算的准确性。     

基于神经网络的系泊系统主动式截断试验仿真

系泊系统主动式截断试验技术对缆索数值模型的求解速度有着较高的要求,而基于集中质量模型或有限元模型的缆索数值模型在计算时需要在每个时间步内迭代求解,因此求解速度缓慢;为解决此问题,采用神经网络辨识得到缆索上端点与截断点运动的时域等价近似模型;该等价模型在每个时间步内无需迭代求解,因此求解速度快于传统的缆索数值模型;同时利用商软OrcaFlex以及Matlab搭建了系泊系统主动式截断试验的仿真平台,将离线辨识得到的神经网络模型代替集中质量模型对缆索截断点运动进行求解;通过对比截断水深以及全水深下张力以及运动结果,说明了神经网络模型代替传统数值模型进行截断点运动计算的可行性。     

一种机载大容量总线监控器的设计研究

飞机上多种总线交错复杂的工作方式,决定了在飞行过程中需要强有力的保障措施,对飞机的工作状态进行健康监控;介绍一种机载大容量总线监控器的设计与实现方法,从应用的角度出发,阐述了其特点、主要功能、硬件系统及软件设计等;在软件设计的过程中采用基于实时多任务操作系统和FPGA开发环境,对设备工作中的1553B总线、CAN总线和HB6096总线的线上数据进行监控并记录;最后在实验室环境下对设备进行测试验证,验证结果满足功能性能要求。     

发明与专利

电动系泊绞车环形恒张力传感器 【摘要】传感器包传感元件和隔离转换电路。传感元件包括环形弹性体、电阻应变式应变全桥,环形弹性体套在电动系泊绞车轴承的外环,电阻应变式应变全桥设在环形弹性体的内表面,并与隔离转换电路相连,隔离转换电路包括输入接口、前级放大电路、隔离放大电路、信号转换电路、输出接口、DC／DC供电模块。     

基于自适应线性自抗扰控制的飞机防滑刹车系统重构控制

飞机防滑刹车系统是确保飞机安全起飞、着陆和滑跑的重要航空机电系统. 除了其动力学中的强非线 性、强耦合以及参数时变外, 潜在的执行器等组件故障也会严重降低防滑刹车系统的安全性与可靠性. 为满足故障 及扰动状态下系统的性能需求, 本文提出了一种基于自适应线性自抗扰控制的飞机防滑刹车系统重构控制方法. 根据飞机防滑刹车系统的组成结构及工作原理对其进行数学建模, 并对执行器注入故障因子. 设计了自适应线性 自抗扰重构控制器, 同时分析了整个闭环系统的稳定性. 该控制器将组件故障、外部干扰以及测量噪声等视为总扰 动, 根据状态误差反馈和系统输出信息, 利用BP神经网络在线优化更新扩张状态观测器和状态误差反馈律参数, 从 而更精确地观测与补偿总扰动带来的不利影响. 最后, 在不同跑道环境下的仿真结果验证了所提出重构控制器的适 应性和鲁棒性.     

浅谈静电释放器在水上飞机上的应用

主要探讨了飞机表面静电干扰产生的机理以及消除方法,介绍了静电释放器的分类及设计需满足的主要性能指标。以某型水上飞机为例,对静电释放器的安装设计进行详细的说明,为水上飞机静电释放器的设计提供科学、有益的参考,确保静电释放器使用的安全性、安装布局的合理性,保证飞机静电释放的质量,从而有效降低对通信导航系统的干扰,保障飞行安全。     

基于Transformer的飞机状态预测

在非定常气动力下,为防止飞机进入危险状态,通过建模进行状态预测,是保障飞行安全的重要手段,传统方法建模过程复杂、工程化难度大且普适性不强。为更好解决大迎角下飞行状态预测,使用基于深度学习的时序序列预测方法,推测飞机的飞行状态,达到最大限度发掘飞机性能、保障飞行安全的目的。提出一种多任务Transformer模型,同时完成飞行状态参数回归和飞行状态分类。实验结果表明,相比于同类模型,该模型的预测性能有大幅提升。     

飞机发电机测试设备中的软件设计

发电机是飞机的关键动力设备,是飞机上精密电子装置的主要供电系统。检查它的工作状态对于确保飞机安全运行,有着十分重要的指导意义。本文介绍了一个用于民用航空飞机发电机检测的测试系统,分析了其系统性能和工作原理,阐述整个系统的软件设计思想和软件功能。     

新型缆风绳预紧及放松设备的控制系统介绍

在桅杆起重和各种高耸结构中,缆风绳是重要的稳定系统,起着稳定桅杆并承受桅杆起重吊装中部分载荷的作用。本文介绍了一种用于缆风绳预紧及放松设备的控制系统,包括控制系统的硬件结构、网络配置、软件结构等。     

Mooring system diagnosis and structural reliability control for position moored vessels

Early diagnosis and fault-tolerant control are essential for safe operation of floating platforms where mooring systems maintain vessel position and must withstand environmental loads. This paper considers two critical faults, line breakage and loss of a buoyancy element and employs vector statistical change detection for timely diagnosis of faults. Diagnosis design is scrutinised and a procedure is proposed based on specified false alarm probability and estimation of the distribution of the test statistics on which change detection is based. A structural reliability index is applied for monitoring the safety level of each mooring line and a set-point chasing algorithm accommodates the effects of line failure, as an integral part of the reliability-based set-point chasing control algorithm. The feasibility of the diagnosis and of the fault-tolerant control strategy is verified in model basin tests.     

Mooring Systems – A Multibody Dynamic Approach

A method for simulating the motion behaviour of moored floatingoffshore structures in the time domain is presented. Theinteraction between the fluid and the floating structure isconsidered using linear potential theory. The hydrodynamic forcesacting on the mooring lines are computed using a modified Morisonequation. A complete three-dimensional model of the structure andthe mooring lines is generated using a multibody system approachincluding a subsystem technique. The model results in a largenumber of degrees of freedom. In order to illustrate a practicalapplication of this method, an analysis of a moored ponton in arandom sea is presented. Different configurations of the systemare examined in order to evaluate the motion behaviour and therestoring forces. Comparisons are made with the naturalfrequencies of the damped system.     

Ensuring mooring line integrity by dynamic positioning: Controller design and experimental tests

This paper addresses the dynamic positioning of surface vessels moored to the seabed via a turret based spread mooring system, an operation referred to as the position mooring. While the mooring system keeps the surface vessel in place most of the time, thruster assistance is needed in severe weather conditions to avoid mooring line failure. Traditionally, this is done by keeping the vessel within a predefined geographical region. We present a conceptually new controller for position mooring operations. By using a structural reliability measure for the mooring lines, the new controller protects the mooring system whenever needed as a result of severe weather conditions and high environmental loads. This is done by maintaining the probability of mooring line failure below a preset value. In particular, the excessive use of thrusters caused by conservatively defined safety regions in conventional PM systems is avoided, giving a fuel optimal operation. The feasibility of our controller is successfully verified in laboratory experiments.     

Robust adaptive control of a thruster assisted position mooring system

In this paper, robust adaptive control is developed for a thruster assisted position mooring system in the transverse direction. To provide an accurate and concise representation for the dynamic behavior of the mooring system, the flexible mooring lines are modeled as a distributed parameter system of partial differential equations (PDEs). The proposed control is applied at the top boundary of the mooring lines for station keeping via Lyapunov’s direct method. Adaptive control is designed to handle the system parametric uncertainties. With the proposed robust adaptive control, uniform boundedness of the system under the ocean current disturbance is achieved. The proposed control is implementable with actual instrumentations since all the signals in the control can be measured by sensors or calculated by using a backward difference algorithm. The effectiveness of the proposed control is verified by numerical simulations.     

Thruster assisted position mooring based on structural reliability

This paper addresses dynamic positioning of surface vessels moored to the seabed via a spread mooring system, referred to as position mooring. In normal weather conditions, the mooring system constrains the vessel and the controller applies thruster force for motion damping and heading control, only. When environmental loads due to wind, waves, and current increase, thruster assistance is required also for positioning in order to avoid damage to the mooring lines. While traditional position mooring systems apply thruster force based on constraining the vessel to lie within a predefined geographical region, the controller designed in this paper instead employs structural reliability measures for the mooring lines to restrict movement. These structural reliability measures become an intrinsic part of the controller, enabling it to automatically adjust the admissible region for the vessel in the presence of changing winds, currents, and waves.     

具有输入延时的锚泊自动定位系统保性能控制

从半潜式平台定位系统的经济性及安全性角度出发,提出基于锚链切换控制的自动锚泊定位系统新方案.针对方案中具有输入延时及不确定性的特点,设计了带有输入延时的保性能控制器,以产生抵抗环境扰动所需的控制输入.基于LMI方法给出控制器存在的充分条件,通过求解相应的线性矩阵不等式得到系统的保性能控制律.仿真结果表明,所设计的控制器能有效解决锚泊自动定位系统的参数不确定性及输入延时问题,从而提高系统的精度和性能.     

覆冰状态下高压输电线路运行可靠性自动检测方法

为了提高对覆冰状态下高压输电线路运行可靠性的自动检测能力,提出一种基于关联规则信息融合的覆冰状态下高压输电线路运行可靠性自动检测方法,采用自相关特征检测方法进行覆冰状态下高压输电线路运行状态挖掘,提取覆冰状态下高压输电线路运行的可靠性数据,根据数据提取结果进行信息融合和量化回归分析,结合异常谱密度特征检测方法,实现对覆冰状态下高压输电线路运行可靠性数据挖掘,构建覆冰状态下高压输电线路运行状态的特征分布模型,结合关联规则信息融合方法,实现覆冰状态下高压输电线路运行可靠性自动检测。仿真结果表明,采用该方法进行覆冰状态下高压输电线路运行可靠性检测的准确性较高,抗干扰性能较好。     

单锚腿系泊系统参数化设计的研究

对单锚腿系泊系统的构成进行了分析,根据系统中零部件的结构尺寸作了 约束的定义,并据此对系统中零部件作了约束分析,简化了系统参数化设计的复杂性,使得 系统结构的约束分析条理清晰;在约束的定义和分析后,对系统的各零部件进行了关联分析, 确定了建模顺序,在SolidWorks 平台上开发出单锚腿系泊的参数化设计系统。