简介:Inthenormaloperationcondition,aconventionalsquare-rootcubatureKalmanfilter(SRCKF)givessufficientlygoodestimationresults.However,ifthemeasurementsarenotreliable,theSRCKFmaygiveinaccurateresultsanddivergesbytime.ThisstudyintroducesanadaptiveSRCKFalgorithmwiththefiltergaincorrectionforthecaseofmeasurementmalfunctions.Byproposingaswitchingcriterion,anoptimalfilterisselectedfromtheadaptiveandconventionalSRCKFaccordingtothemeasurementquality.Asubsystemsoftfaultdetectionalgorithmisbuiltwiththefilterresidual.Utilizingaclearsubsystemfaultcoefficient,thefaultysubsystemisisolatedasaresultofthesystemreconstruction.Inordertoimprovetheperformanceofthemulti-sensorsystem,ahybridfusionalgorithmispresentedbasedontheadaptiveSRCKF.Thestateanderrorcovariancematrixarealsopredictedbythepriorifusionestimates,andareupdatedbythepredictedandestimatedinformationofsubsystems.Theproposedalgorithmswereappliedtothevesseldynamicpositioningsystemsimulation.TheywerecomparedwithnormalSRCKFandlocalestimationweightedfusionalgorithm.ThesimulationresultsshowthatthepresentedadaptiveSRCKFimprovestherobustnessofsubsystemfiltering,andthehybridfusionalgorithmhasthebetterperformance.Thesimulationverifiestheeffectivenessoftheproposedalgorithms.
简介:针对钻井平台波浪补偿控制系统,运用意大利ATOS公司的高性能三位四通电液比例换向阀和天车主动油缸来构造钻柱升沉补偿装置的传递函数,提出一种参数自适应模糊PID集成控制策略.MATLAB/Simulink仿真结果表明,该控制系统性能稳定,可以补偿平台94.3%的升沉运动,补偿精度较高,为搭建3000m深海钻井平台波浪补偿装置可行性提供了可靠的理论依据.
简介:Forstudyingthedynamicperformanceofsubseaumbilicalcablelayingsystemandachievingthegoalofcabletensionandlayingspeedcontrol,therigidfiniteelementmethodisusedtodiscreteandtransformthesystemintoarigid-flexiblecouplingmulti-bodysystemwhichconsistsofrigidelementsandspring-dampingelements.ThemathematicalmodelofsubseaumbilicalcablelayingsystemkinematicchainispresentedwiththesecondorderLagrangeequationinthejointcoordinatesystem,anddynamicmodelingandsimulationisperformedwithADAMS.Thedynamicanalysisisconductedassumingthefollowingthreestatuses:ideallaying,practicallayingunderwavedisturbance,andpracticallayingwithtensioncompensation.Resultsshowthatmotiondisturbancesofthelayingbudgeunderseawaves,especiallywithheavingandpitching,willcauserelativelyseriousfluctuationsincabletensionandlayingspeed.Tensioncompensation,i.e.,activebacktensiontorquecontrolcanrestrictcontinuoustensionincreasingordecreasingeffectivelyandrapidly,thusavoidingcablebreachorbuckling.
简介:随着船舶技术的发展,现代船舶对船用隔离器系统提出了越来越高的要求,即船用隔离器系统应同时具备低频减振和高频抗冲击的能力,这是传统的船用减振器系统所无法做到的.为了解决此问题,本文提出了一种新的船用隔离器系统,该系统由钢丝绳弹簧和磁流变阻尼器相并联组成.文中对该船用隔离器系统的减振和抗冲击性能进行了模型试验研究。减振试验的激振力频率为1-15Hz,力幅为2.94.11.76kN;冲击试验的最大冲击输入加速度为20g,脉宽为10ms,减振试验和冲击试验均采用MTS液压加载系统来进行.试验结果表明,该船用隔离器系统具有较好的减振效果,使用了MR阻尼器后系统得共振峰值被明显的削弱;在冲击试验中,冲击响应的衰减速度随着MR阻尼器的阻尼增加而明显加快,但是MR阻尼器再冲击瞬间的出力特性明显与低频振动情况下不同,MR阻尼器的出力表现为受控制电流强度影响不大.
简介:随着船舶技术的发展,现代船舶对船用隔离器系统提出了越来越高的要求,即船用隔离器系统应同时具备低频减振和高频抗冲击的能力,这是传统的船用减振器系统所无法做到的.为了解决此问题,本文提出了一种新的船用隔离器系统,该系统由钢丝绳弹簧和磁流变阻尼器相并联组成.文中对该船用隔离器系统的减振和抗冲击性能进行了模型试验研究。减振试验的激振力频率为1-15Hz,力幅为2.94-11.76kN;冲击试验的最大冲击输入加速度为20g,脉宽为10ms,减振试验和冲击试验均采用MTS液压加载系统来进行.试验结果表明,该船用隔离器系统具有较好的减振效果,使用了MR阻尼器后系统得共振峰值被明显的削弱;在冲击试验中,冲击响应的衰减速度随着MR阻尼器的阻尼增加而明显加快,但是MR阻尼器再冲击瞬间的出力特性明显与低频振动情况下不同,MR阻尼器的出力表现为受控制电流强度影响不大.
简介:文章从《STCW95公约》对船员在语言方面的新要求出发,联系目前航海院校英语教学实际,提出了航海院校英语教学改革的对策。