自主湖水环境监测船的运动控制系统设计

设计自主湖水环境监测船的运动控制系统,包括由GPS和电子罗盘构成的导航系统、超声传感器避障系统、太阳能和蓄电池配合的自主能源供给系统。采用超声、红外传感器和机械卡环设计自动泊位装置。基于坐标系变换,建立自主船的运动学模型。针对双电机的转速控制,设计实现三层递阶控制器及滑膜变结构转速控制算法。实验结果表明,滑膜控制能较好地排除水流速度的突变干扰,差动转向平稳,自主船可实现自动泊位和能源自给,运动控制系统稳定,速度响应小于4 s,大角度转向响应小于13 s。     

舰艇舱室二氧化碳检测装置

设计了一种超低功耗的检测装置,适用于舰艇舱室内的温度、湿度和CO2浓度的数据采集．分析了检测装置所采用微控制器、传感器和无线收发器的工作特点以及功耗,描述了检测装置的结构原理,给出了系统软件的设计方案和通信方法．实测结果表明,所设计的系统硬件结构简单可靠,功耗较小,达到了舰艇舱室二氧化碳浓度测量的设计要求．     

桃花江航运枢纽整体水力学试验研究

桃花江旅游景观船闸在布置上因受到枢纽地形与河道防洪的限制,难以满足规范要求.采用几何比尺为1∶25的整体水工模型进行了试验研究,2座枢纽的控制运行条件均为最高通航水位组合,主河道中流速较大,特别是上下游口门处引航道的横向流速较大,不能满足规范要求.修改方案主要通过减小2座船闸上下游引航道与桃花江主河道夹角,并对口门附近地形进行了相应的疏浚.试验结果表明,修改方案有效降低了2座船闸上游口门处横向流速等不利因素.     

南水北调丹江口升船机电力拖动系统设计及应用

介绍了丹江口水电站过坝垂直升船机和斜面升船机的概况及组成,对电力拖动系统进行了分析,依据当前电力拖动的技术发展,采用先进的技术,对电力拖动系统进行选型、配置,设计了完善的操作方式,具有独特的特点。经厂内及机电联调试验验证,电力拖动系统设计合理、满足要求。     

Vessel motion thresholds for maintaining physical and cognitive performance: a study of naval personnel at sea

Methods and results are reported from a study of ships companies' exposure to low-frequency motions on three vessels of the Royal Navy. The aim of the study was to investigate relationships between deck accelerations and the incidence of problems such as difficulties with physical tasks, cognitive activities, motion sickness, and work effort. Ship motions were recorded continuously during sea patrols of 10-14 days. The data collected from the three vessels comprised 105 days of ship motions over 12 patrols, with 779 associated daily diaries from 78 participants. Problems most strongly associated with vessel motions were related to the difficulties with physical tasks. Some cognitive aspects of task performance and motion sickness were associated with vertical acceleration magnitudes, but the correlations were less strong than with physical tasks. Practitioner Summary: Little is known about the severity of ship motions that degrade physical and mental performance. The paper offers preliminary estimates of the motion threshold values below which the performance will not be degraded by motion.     

Effect of ship motion on spinal loading during manual lifting

This study investigated the effects of ship motion on peak spinal loading during lifting. All measurements were done on a ship at sea. In 1-min trials, which were repeated over a wide range of sailing conditions, subjects lifted an 18 kg box five times. Ship motion, whole body kinematics, ground reaction forces and electromyography were measured and the effect of ship motion on peak spinal moments and compression forces was investigated. To investigate whether people time their lifts in order to reduce the effect of ship motion on back loading, trials were performed at a free and at a constrained (lifting every 10s) work pace. With increase of the (local) vertical ship acceleration, increased moments and compression forces were found. Furthermore, lifting at a free work pace did not result in smaller effects of ship motion on spinal moments and compression forces than working at a constrained work pace.     

An iterative calibration method for nonlinear coefficients of marine triaxial accelerometers

Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance. However, two significant accelerometer nonlinear errors need to be attacked to improve the modulation effect. Firstly, the asymmetry scale factor inaccuracy enlarges the errors of frequent zero-cross oscillating specific force measured by non-axial accelerometers. Secondly, the traditional linear model of accelerometers can hardly measure the continued or intermittent acceleration accurately. These two nonlinear errors degrade the high-precision specific force measurement and the calibration of nonlinear coefficients because triaxial accelerometers is urgent for the marine navigation. Based on the digital signal sampling property, the square coefficients and cross-coupling coefficients of accelerometers are considered. Meanwhile, the asymmetry scale factors are considered in the I-F conversion unit. Thus, a nonlinear model of specific force measurement is established compared to the linear model. Based on the three-axis turntable, the triaxial gyroscopes are utilized to measure the specific force observation for triaxial accelerometers. Considering the nonlinear combination, the standard calibration parameters and asymmetry factors are separately estimated by a two-step iterative identification procedure. Besides, an efficient specific force calculation model is approximately derived to reduce the real-time computation cost. Simulation results illustrate the sufficient estimation accuracy of nonlinear coefficients. The experiments demonstrate that the nonlinear model shows much higher accuracy than the linear model in both the gravimetry and sway navigation validations.     

多弧离子镀在海洋船舶装备材料上的应用

离子镀膜技术作为一项正在发展的表面镀膜技术,具有良好的耐摩擦、磨损性能。多孤离子镀是最先进的镀膜技术之一,通过阐述分析多弧离子镀的原理、技术优点,研究其应用领域,探求多弧离子镀在海洋船舶材料中的应用,并对该技术进行展望。     

舰载武器惯导系统传递对准仿真验证的研究

针对传统船用惯导系统采用理想运动状态对传递对准方案进行仿真验证的问题,提出了引入舰船空间运动模型的传递对准仿真验证方法。通过舰船空间运动模型提供接近真实运动环境的空间运动参数,并实现了空间运动信息至惯性敏感信息的正确转换,给出了各模块的空间变换算法转换流程。"速度+姿态"子惯导传递对准模块的仿真精度优于0.05°,证明了仿真验证系统变换算法的正确性。该研究设计为开展其它领域的传递对准仿真验证提供了有效的参考依据。     

船舶电力推进系统仿真可信度FCE评估方法研究

为了提高船舶电力推进系统仿真的可信性分析准确性,提出采用模糊综合评判和基于相似度原理的综合方法对系统仿真进行分析。结合船舶电力推进系统的仿真模型,将影响仿真结果的可信性因素综合起来建立层次结构,并依据专家打分确定各子系统的相对权重。针对基于相似度原理所得的结果,采用自适应神经网络模糊控制系统确定子系统的隶属函数,对结果进行模糊化处理,并最终通过模糊综合评判确定系统的可信度。该方法结合神经网络对系统的隶属度函数进行修正,克服了主观确定隶属度函数的缺点;有效地解决了系统中含有定性定量数据求取可信度难的问题,具有一定的科学性和可信性。